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sensors app: Use indexed param names

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This commit is contained in:
Lorenz Meier 2015-02-01 18:24:29 +01:00
parent 19cd496157
commit 23e7823b51
2 changed files with 379 additions and 43 deletions
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386
src/modules/sensors/sensor_params.c
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@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2015 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
@ -36,20 +36,27 @@
*
* Parameters defined by the sensors task.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Lorenz Meier <lorenz@px4.io>
* @author Julian Oes <julian@px4.io>
* @author Thomas Gubler <thomas@px4.io>
*/
#include <nuttx/config.h>
#include <systemlib/param/param.h>
/**
* ID of the board this parameter set was calibrated on.
*
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_BOARD_ID, 0);
/**
* ID of the Gyro that the calibration is for.
*
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(SENS_GYRO_ID, 0);
PARAM_DEFINE_INT32(CAL_GYRO0_ID, 0);
/**
* Gyro X-axis offset
@ -58,7 +65,7 @@ PARAM_DEFINE_INT32(SENS_GYRO_ID, 0);
* @max 10.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_GYRO_XOFF, 0.0f);
PARAM_DEFINE_FLOAT(CAL_GYRO0_XOFF, 0.0f);
/**
* Gyro Y-axis offset
@ -67,7 +74,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_XOFF, 0.0f);
* @max 10.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_GYRO_YOFF, 0.0f);
PARAM_DEFINE_FLOAT(CAL_GYRO0_YOFF, 0.0f);
/**
* Gyro Z-axis offset
@ -76,7 +83,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_YOFF, 0.0f);
* @max 5.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_GYRO_ZOFF, 0.0f);
PARAM_DEFINE_FLOAT(CAL_GYRO0_ZOFF, 0.0f);
/**
* Gyro X-axis scaling factor
@ -85,7 +92,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_ZOFF, 0.0f);
* @max 1.5
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_GYRO_XSCALE, 1.0f);
PARAM_DEFINE_FLOAT(CAL_GYRO0_XSCALE, 1.0f);
/**
* Gyro Y-axis scaling factor
@ -94,7 +101,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_XSCALE, 1.0f);
* @max 1.5
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_GYRO_YSCALE, 1.0f);
PARAM_DEFINE_FLOAT(CAL_GYRO0_YSCALE, 1.0f);
/**
* Gyro Z-axis scaling factor
@ -103,14 +110,14 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_YSCALE, 1.0f);
* @max 1.5
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_GYRO_ZSCALE, 1.0f);
PARAM_DEFINE_FLOAT(CAL_GYRO0_ZSCALE, 1.0f);
/**
* ID of Magnetometer the calibration is for.
*
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(SENS_MAG_ID, 0);
PARAM_DEFINE_INT32(CAL_MAG0_ID, 0);
/**
* Magnetometer X-axis offset
@ -119,7 +126,7 @@ PARAM_DEFINE_INT32(SENS_MAG_ID, 0);
* @max 500.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_MAG_XOFF, 0.0f);
PARAM_DEFINE_FLOAT(CAL_MAG0_XOFF, 0.0f);
/**
* Magnetometer Y-axis offset
@ -128,7 +135,7 @@ PARAM_DEFINE_FLOAT(SENS_MAG_XOFF, 0.0f);
* @max 500.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_MAG_YOFF, 0.0f);
PARAM_DEFINE_FLOAT(CAL_MAG0_YOFF, 0.0f);
/**
* Magnetometer Z-axis offset
@ -137,78 +144,407 @@ PARAM_DEFINE_FLOAT(SENS_MAG_YOFF, 0.0f);
* @max 500.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_MAG_ZOFF, 0.0f);
PARAM_DEFINE_FLOAT(CAL_MAG0_ZOFF, 0.0f);
/**
* Magnetometer X-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_MAG_XSCALE, 1.0f);
PARAM_DEFINE_FLOAT(CAL_MAG0_XSCALE, 1.0f);
/**
* Magnetometer Y-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_MAG_YSCALE, 1.0f);
PARAM_DEFINE_FLOAT(CAL_MAG0_YSCALE, 1.0f);
/**
* Magnetometer Z-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_MAG_ZSCALE, 1.0f);
PARAM_DEFINE_FLOAT(CAL_MAG0_ZSCALE, 1.0f);
/**
* ID of the Accelerometer that the calibration is for.
*
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(SENS_ACC_ID, 0);
PARAM_DEFINE_INT32(CAL_ACC0_ID, 0);
/**
* Accelerometer X-axis offset
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_ACC_XOFF, 0.0f);
PARAM_DEFINE_FLOAT(CAL_ACC0_XOFF, 0.0f);
/**
* Accelerometer Y-axis offset
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_ACC_YOFF, 0.0f);
PARAM_DEFINE_FLOAT(CAL_ACC0_YOFF, 0.0f);
/**
* Accelerometer Z-axis offset
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_ACC_ZOFF, 0.0f);
PARAM_DEFINE_FLOAT(CAL_ACC0_ZOFF, 0.0f);
/**
* Accelerometer X-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_ACC_XSCALE, 1.0f);
PARAM_DEFINE_FLOAT(CAL_ACC0_XSCALE, 1.0f);
/**
* Accelerometer Y-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_ACC_YSCALE, 1.0f);
PARAM_DEFINE_FLOAT(CAL_ACC0_YSCALE, 1.0f);
/**
* Accelerometer Z-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_ACC_ZSCALE, 1.0f);
PARAM_DEFINE_FLOAT(CAL_ACC0_ZSCALE, 1.0f);
/**
* ID of the Gyro that the calibration is for.
*
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_GYRO1_ID, 0);
/**
* Gyro X-axis offset
*
* @min -10.0
* @max 10.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO1_XOFF, 0.0f);
/**
* Gyro Y-axis offset
*
* @min -10.0
* @max 10.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO1_YOFF, 0.0f);
/**
* Gyro Z-axis offset
*
* @min -5.0
* @max 5.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO1_ZOFF, 0.0f);
/**
* Gyro X-axis scaling factor
*
* @min -1.5
* @max 1.5
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO1_XSCALE, 1.0f);
/**
* Gyro Y-axis scaling factor
*
* @min -1.5
* @max 1.5
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO1_YSCALE, 1.0f);
/**
* Gyro Z-axis scaling factor
*
* @min -1.5
* @max 1.5
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO1_ZSCALE, 1.0f);
/**
* ID of Magnetometer the calibration is for.
*
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_MAG1_ID, 0);
/**
* Magnetometer X-axis offset
*
* @min -500.0
* @max 500.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG1_XOFF, 0.0f);
/**
* Magnetometer Y-axis offset
*
* @min -500.0
* @max 500.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG1_YOFF, 0.0f);
/**
* Magnetometer Z-axis offset
*
* @min -500.0
* @max 500.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG1_ZOFF, 0.0f);
/**
* Magnetometer X-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG1_XSCALE, 1.0f);
/**
* Magnetometer Y-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG1_YSCALE, 1.0f);
/**
* Magnetometer Z-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG1_ZSCALE, 1.0f);
/**
* ID of the Accelerometer that the calibration is for.
*
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_ACC1_ID, 0);
/**
* Accelerometer X-axis offset
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC1_XOFF, 0.0f);
/**
* Accelerometer Y-axis offset
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC1_YOFF, 0.0f);
/**
* Accelerometer Z-axis offset
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC1_ZOFF, 0.0f);
/**
* Accelerometer X-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC1_XSCALE, 1.0f);
/**
* Accelerometer Y-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC1_YSCALE, 1.0f);
/**
* Accelerometer Z-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC1_ZSCALE, 1.0f);
/**
* ID of the Gyro that the calibration is for.
*
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_GYRO2_ID, 0);
/**
* Gyro X-axis offset
*
* @min -10.0
* @max 10.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO2_XOFF, 0.0f);
/**
* Gyro Y-axis offset
*
* @min -10.0
* @max 10.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO2_YOFF, 0.0f);
/**
* Gyro Z-axis offset
*
* @min -5.0
* @max 5.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO2_ZOFF, 0.0f);
/**
* Gyro X-axis scaling factor
*
* @min -1.5
* @max 1.5
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO2_XSCALE, 1.0f);
/**
* Gyro Y-axis scaling factor
*
* @min -1.5
* @max 1.5
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO2_YSCALE, 1.0f);
/**
* Gyro Z-axis scaling factor
*
* @min -1.5
* @max 1.5
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO2_ZSCALE, 1.0f);
/**
* ID of Magnetometer the calibration is for.
*
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_MAG2_ID, 0);
/**
* Magnetometer X-axis offset
*
* @min -500.0
* @max 500.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG2_XOFF, 0.0f);
/**
* Magnetometer Y-axis offset
*
* @min -500.0
* @max 500.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG2_YOFF, 0.0f);
/**
* Magnetometer Z-axis offset
*
* @min -500.0
* @max 500.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG2_ZOFF, 0.0f);
/**
* Magnetometer X-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG2_XSCALE, 1.0f);
/**
* Magnetometer Y-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG2_YSCALE, 1.0f);
/**
* Magnetometer Z-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG2_ZSCALE, 1.0f);
/**
* ID of the Accelerometer that the calibration is for.
*
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_ACC2_ID, 0);
/**
* Accelerometer X-axis offset
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC2_XOFF, 0.0f);
/**
* Accelerometer Y-axis offset
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC2_YOFF, 0.0f);
/**
* Accelerometer Z-axis offset
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC2_ZOFF, 0.0f);
/**
* Accelerometer X-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC2_XSCALE, 1.0f);
/**
* Accelerometer Y-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC2_YSCALE, 1.0f);
/**
* Accelerometer Z-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC2_ZSCALE, 1.0f);
/**
* Differential pressure sensor offset

36
src/modules/sensors/sensors.cpp
View File

@ -619,29 +619,29 @@ Sensors::Sensors() :
_parameter_handles.rc_offboard_th = param_find("RC_OFFB_TH");
/* gyro offsets */
_parameter_handles.gyro_offset[0] = param_find("SENS_GYRO_XOFF");
_parameter_handles.gyro_offset[1] = param_find("SENS_GYRO_YOFF");
_parameter_handles.gyro_offset[2] = param_find("SENS_GYRO_ZOFF");
_parameter_handles.gyro_scale[0] = param_find("SENS_GYRO_XSCALE");
_parameter_handles.gyro_scale[1] = param_find("SENS_GYRO_YSCALE");
_parameter_handles.gyro_scale[2] = param_find("SENS_GYRO_ZSCALE");
_parameter_handles.gyro_offset[0] = param_find("CAL_GYRO0_XOFF");
_parameter_handles.gyro_offset[1] = param_find("CAL_GYRO0_YOFF");
_parameter_handles.gyro_offset[2] = param_find("CAL_GYRO0_ZOFF");
_parameter_handles.gyro_scale[0] = param_find("CAL_GYRO0_XSCALE");
_parameter_handles.gyro_scale[1] = param_find("CAL_GYRO0_YSCALE");
_parameter_handles.gyro_scale[2] = param_find("CAL_GYRO0_ZSCALE");
/* accel offsets */
_parameter_handles.accel_offset[0] = param_find("SENS_ACC_XOFF");
_parameter_handles.accel_offset[1] = param_find("SENS_ACC_YOFF");
_parameter_handles.accel_offset[2] = param_find("SENS_ACC_ZOFF");
_parameter_handles.accel_scale[0] = param_find("SENS_ACC_XSCALE");
_parameter_handles.accel_scale[1] = param_find("SENS_ACC_YSCALE");
_parameter_handles.accel_scale[2] = param_find("SENS_ACC_ZSCALE");
_parameter_handles.accel_offset[0] = param_find("CAL_ACC0_XOFF");
_parameter_handles.accel_offset[1] = param_find("CAL_ACC0_YOFF");
_parameter_handles.accel_offset[2] = param_find("CAL_ACC0_ZOFF");
_parameter_handles.accel_scale[0] = param_find("CAL_ACC0_XSCALE");
_parameter_handles.accel_scale[1] = param_find("CAL_ACC0_YSCALE");
_parameter_handles.accel_scale[2] = param_find("CAL_ACC0_ZSCALE");
/* mag offsets */
_parameter_handles.mag_offset[0] = param_find("SENS_MAG_XOFF");
_parameter_handles.mag_offset[1] = param_find("SENS_MAG_YOFF");
_parameter_handles.mag_offset[2] = param_find("SENS_MAG_ZOFF");
_parameter_handles.mag_offset[0] = param_find("CAL_MAG0_XOFF");
_parameter_handles.mag_offset[1] = param_find("CAL_MAG0_YOFF");
_parameter_handles.mag_offset[2] = param_find("CAL_MAG0_ZOFF");
_parameter_handles.mag_scale[0] = param_find("SENS_MAG_XSCALE");
_parameter_handles.mag_scale[1] = param_find("SENS_MAG_YSCALE");
_parameter_handles.mag_scale[2] = param_find("SENS_MAG_ZSCALE");
_parameter_handles.mag_scale[0] = param_find("CAL_MAG0_XSCALE");
_parameter_handles.mag_scale[1] = param_find("CAL_MAG0_YSCALE");
_parameter_handles.mag_scale[2] = param_find("CAL_MAG0_ZSCALE");
/* Differential pressure offset */
_parameter_handles.diff_pres_offset_pa = param_find("SENS_DPRES_OFF");