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sensor calibration delete temperature (CAL_ACCx_TEMP, CAL_GYROx_TEMP, CAL_MAGx_TEMP)

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- this was an experiment to casually monitor sensor offsets relative to temperature, but now that all calibration offsets can be adjusted post-flight the stored temperature can be misleading
 - deleting to save a little bit of flash (and storing the temperature wasn't useful)
This commit is contained in:
Daniel Agar 2022-03-12 11:38:49 -05:00 committed by GitHub
parent aa64789792
commit 3d54d25867
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GPG Key ID: 4AEE18F83AFDEB23
15 changed files with 11 additions and 196 deletions
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26
src/lib/sensor_calibration/Accelerometer.cpp
View File

@ -207,16 +207,6 @@ bool Accelerometer::ParametersLoad()
_priority = _external ? DEFAULT_EXTERNAL_PRIORITY : DEFAULT_PRIORITY;
}
// CAL_ACCx_TEMP
float cal_temp = GetCalibrationParamFloat(SensorString(), "TEMP", _calibration_index);
if (cal_temp > TEMPERATURE_INVALID) {
set_temperature(cal_temp);
} else {
set_temperature(NAN);
}
// CAL_ACCx_OFF{X,Y,Z}
set_offset(GetCalibrationParamsVector3f(SensorString(), "OFF", _calibration_index));
@ -243,7 +233,6 @@ void Accelerometer::Reset()
_scale = Vector3f{1.f, 1.f, 1.f};
_thermal_offset.zero();
_temperature = NAN;
_priority = _external ? DEFAULT_EXTERNAL_PRIORITY : DEFAULT_PRIORITY;
@ -285,13 +274,6 @@ bool Accelerometer::ParametersSave(int desired_calibration_index, bool force)
success &= SetCalibrationParam(SensorString(), "ROT", _calibration_index, -1); // internal
}
if (PX4_ISFINITE(_temperature)) {
success &= SetCalibrationParam(SensorString(), "TEMP", _calibration_index, _temperature);
} else {
success &= SetCalibrationParam(SensorString(), "TEMP", _calibration_index, TEMPERATURE_INVALID);
}
return success;
}
@ -302,20 +284,18 @@ void Accelerometer::PrintStatus()
{
if (external()) {
PX4_INFO_RAW("%s %" PRIu32
" EN: %d, offset: [%05.3f %05.3f %05.3f], scale: [%05.3f %05.3f %05.3f], %.1f degC, Ext ROT: %d\n",
" EN: %d, offset: [%05.3f %05.3f %05.3f], scale: [%05.3f %05.3f %05.3f], Ext ROT: %d\n",
SensorString(), device_id(), enabled(),
(double)_offset(0), (double)_offset(1), (double)_offset(2),
(double)_scale(0), (double)_scale(1), (double)_scale(2),
(double)_temperature,
rotation_enum());
} else {
PX4_INFO_RAW("%s %" PRIu32
" EN: %d, offset: [%05.3f %05.3f %05.3f], scale: [%05.3f %05.3f %05.3f], %.1f degC, Internal\n",
" EN: %d, offset: [%05.3f %05.3f %05.3f], scale: [%05.3f %05.3f %05.3f], Internal\n",
SensorString(), device_id(), enabled(),
(double)_offset(0), (double)_offset(1), (double)_offset(2),
(double)_scale(0), (double)_scale(1), (double)_scale(2),
(double)_temperature);
(double)_scale(0), (double)_scale(1), (double)_scale(2));
}
if (_thermal_offset.norm() > 0.f) {

4
src/lib/sensor_calibration/Accelerometer.hpp
View File

@ -64,7 +64,6 @@ public:
bool set_offset(const matrix::Vector3f &offset);
bool set_scale(const matrix::Vector3f &scale);
void set_rotation(Rotation rotation);
void set_temperature(float temperature) { _temperature = temperature; };
bool calibrated() const { return (_device_id != 0) && (_calibration_index >= 0); }
uint8_t calibration_count() const { return _calibration_count; }
@ -100,8 +99,6 @@ public:
void SensorCorrectionsUpdate(bool force = false);
private:
static constexpr float TEMPERATURE_INVALID = -1000.f;
uORB::Subscription _sensor_correction_sub{ORB_ID(sensor_correction)};
Rotation _rotation_enum{ROTATION_NONE};
@ -110,7 +107,6 @@ private:
matrix::Vector3f _offset;
matrix::Vector3f _scale;
matrix::Vector3f _thermal_offset;
float _temperature{NAN};
int8_t _calibration_index{-1};
uint32_t _device_id{0};

26
src/lib/sensor_calibration/Gyroscope.cpp
View File

@ -192,16 +192,6 @@ bool Gyroscope::ParametersLoad()
_priority = _external ? DEFAULT_EXTERNAL_PRIORITY : DEFAULT_PRIORITY;
}
// CAL_GYROx_TEMP
float cal_temp = GetCalibrationParamFloat(SensorString(), "TEMP", _calibration_index);
if (cal_temp > TEMPERATURE_INVALID) {
set_temperature(cal_temp);
} else {
set_temperature(NAN);
}
// CAL_GYROx_OFF{X,Y,Z}
set_offset(GetCalibrationParamsVector3f(SensorString(), "OFF", _calibration_index));
@ -224,7 +214,6 @@ void Gyroscope::Reset()
_offset.zero();
_thermal_offset.zero();
_temperature = NAN;
_priority = _external ? DEFAULT_EXTERNAL_PRIORITY : DEFAULT_PRIORITY;
@ -265,13 +254,6 @@ bool Gyroscope::ParametersSave(int desired_calibration_index, bool force)
success &= SetCalibrationParam(SensorString(), "ROT", _calibration_index, -1); // internal
}
if (PX4_ISFINITE(_temperature)) {
success &= SetCalibrationParam(SensorString(), "TEMP", _calibration_index, _temperature);
} else {
success &= SetCalibrationParam(SensorString(), "TEMP", _calibration_index, TEMPERATURE_INVALID);
}
return success;
}
@ -282,17 +264,15 @@ void Gyroscope::PrintStatus()
{
if (external()) {
PX4_INFO_RAW("%s %" PRIu32
" EN: %d, offset: [%05.3f %05.3f %05.3f], %.1f degC, Ext ROT: %d\n",
" EN: %d, offset: [%05.3f %05.3f %05.3f], Ext ROT: %d\n",
SensorString(), device_id(), enabled(),
(double)_offset(0), (double)_offset(1), (double)_offset(2),
(double)_temperature,
rotation_enum());
} else {
PX4_INFO_RAW("%s %" PRIu32 " EN: %d, offset: [%05.3f %05.3f %05.3f], %.1f degC, Internal\n",
PX4_INFO_RAW("%s %" PRIu32 " EN: %d, offset: [%05.3f %05.3f %05.3f], Internal\n",
SensorString(), device_id(), enabled(),
(double)_offset(0), (double)_offset(1), (double)_offset(2),
(double)_temperature);
(double)_offset(0), (double)_offset(1), (double)_offset(2));
}
if (_thermal_offset.norm() > 0.f) {

4
src/lib/sensor_calibration/Gyroscope.hpp
View File

@ -63,7 +63,6 @@ public:
void set_device_id(uint32_t device_id);
bool set_offset(const matrix::Vector3f &offset);
void set_rotation(Rotation rotation);
void set_temperature(float temperature) { _temperature = temperature; };
bool calibrated() const { return (_device_id != 0) && (_calibration_index >= 0); }
uint8_t calibration_count() const { return _calibration_count; }
@ -104,8 +103,6 @@ public:
void SensorCorrectionsUpdate(bool force = false);
private:
static constexpr float TEMPERATURE_INVALID = -1000.f;
uORB::Subscription _sensor_correction_sub{ORB_ID(sensor_correction)};
Rotation _rotation_enum{ROTATION_NONE};
@ -113,7 +110,6 @@ private:
matrix::Dcmf _rotation;
matrix::Vector3f _offset;
matrix::Vector3f _thermal_offset;
float _temperature{NAN};
int8_t _calibration_index{-1};
uint32_t _device_id{0};

27
src/lib/sensor_calibration/Magnetometer.cpp
View File

@ -192,16 +192,6 @@ bool Magnetometer::ParametersLoad()
_priority = _external ? DEFAULT_EXTERNAL_PRIORITY : DEFAULT_PRIORITY;
}
// CAL_MAGx_TEMP
float cal_temp = GetCalibrationParamFloat(SensorString(), "TEMP", _calibration_index);
if (cal_temp > TEMPERATURE_INVALID) {
set_temperature(cal_temp);
} else {
set_temperature(NAN);
}
// CAL_MAGx_OFF{X,Y,Z}
set_offset(GetCalibrationParamsVector3f(SensorString(), "OFF", _calibration_index));
@ -236,8 +226,6 @@ void Magnetometer::Reset()
_power_compensation.zero();
_power = 0.f;
_temperature = NAN;
_priority = _external ? DEFAULT_EXTERNAL_PRIORITY : DEFAULT_PRIORITY;
_calibration_index = -1;
@ -285,13 +273,6 @@ bool Magnetometer::ParametersSave(int desired_calibration_index, bool force)
success &= SetCalibrationParam(SensorString(), "ROT", _calibration_index, -1); // internal
}
if (PX4_ISFINITE(_temperature)) {
success &= SetCalibrationParam(SensorString(), "TEMP", _calibration_index, _temperature);
} else {
success &= SetCalibrationParam(SensorString(), "TEMP", _calibration_index, TEMPERATURE_INVALID);
}
return success;
}
@ -302,20 +283,18 @@ void Magnetometer::PrintStatus()
{
if (external()) {
PX4_INFO_RAW("%s %" PRIu32
" EN: %d, offset: [%05.3f %05.3f %05.3f], scale: [%05.3f %05.3f %05.3f], %.1f degC, Ext ROT: %d\n",
" EN: %d, offset: [%05.3f %05.3f %05.3f], scale: [%05.3f %05.3f %05.3f], Ext ROT: %d\n",
SensorString(), device_id(), enabled(),
(double)_offset(0), (double)_offset(1), (double)_offset(2),
(double)_scale(0, 0), (double)_scale(1, 1), (double)_scale(2, 2),
(double)_temperature,
rotation_enum());
} else {
PX4_INFO_RAW("%s %" PRIu32
" EN: %d, offset: [%05.3f %05.3f %05.3f], scale: [%05.3f %05.3f %05.3f], %.1f degC, Internal\n",
" EN: %d, offset: [%05.3f %05.3f %05.3f], scale: [%05.3f %05.3f %05.3f], Internal\n",
SensorString(), device_id(), enabled(),
(double)_offset(0), (double)_offset(1), (double)_offset(2),
(double)_scale(0, 0), (double)_scale(1, 1), (double)_scale(2, 2),
(double)_temperature);
(double)_scale(0, 0), (double)_scale(1, 1), (double)_scale(2, 2));
}
#if defined(DEBUG_BUILD)

4
src/lib/sensor_calibration/Magnetometer.hpp
View File

@ -66,7 +66,6 @@ public:
bool set_scale(const matrix::Vector3f &scale);
bool set_offdiagonal(const matrix::Vector3f &offdiagonal);
void set_rotation(Rotation rotation);
void set_temperature(float temperature) { _temperature = temperature; };
bool calibrated() const { return (_device_id != 0) && (_calibration_index >= 0); }
uint8_t calibration_count() const { return _calibration_count; }
@ -102,8 +101,6 @@ public:
void UpdatePower(float power) { _power = power; }
private:
static constexpr float TEMPERATURE_INVALID = -1000.f;
Rotation _rotation_enum{ROTATION_NONE};
matrix::Dcmf _rotation;
@ -111,7 +108,6 @@ private:
matrix::Matrix3f _scale;
matrix::Vector3f _power_compensation;
float _power{0.f};
float _temperature{NAN};
int8_t _calibration_index{-1};
uint32_t _device_id{0};

15
src/lib/sensor_calibration/Utilities.cpp
View File

@ -149,21 +149,6 @@ 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_MAGn_TEMP
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};

1
src/lib/sensor_calibration/Utilities.hpp
View File

@ -71,7 +71,6 @@ 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.

31
src/modules/commander/accelerometer_calibration.cpp
View File

@ -157,15 +157,13 @@ struct accel_worker_data_s {
orb_advert_t *mavlink_log_pub{nullptr};
unsigned done_count{0};
float accel_ref[MAX_ACCEL_SENS][detect_orientation_side_count][3] {};
float accel_temperature_ref[MAX_ACCEL_SENS] {NAN, NAN, NAN, NAN};
};
// Read specified number of accelerometer samples, calculate average and dispersion.
static calibrate_return read_accelerometer_avg(float (&accel_avg)[MAX_ACCEL_SENS][detect_orientation_side_count][3],
float (&accel_temperature_avg)[MAX_ACCEL_SENS], unsigned orient, unsigned samples_num)
unsigned orient, unsigned samples_num)
{
Vector3f accel_sum[MAX_ACCEL_SENS] {};
float temperature_sum[MAX_ACCEL_SENS] {NAN, NAN, NAN, NAN};
unsigned counts[MAX_ACCEL_SENS] {};
unsigned errcount = 0;
@ -217,14 +215,6 @@ static calibrate_return read_accelerometer_avg(float (&accel_avg)[MAX_ACCEL_SENS
accel_sum[accel_index] += Vector3f{arp.x, arp.y, arp.z} - offset;
counts[accel_index]++;
if (!PX4_ISFINITE(temperature_sum[accel_index])) {
// set first valid value
temperature_sum[accel_index] = (arp.temperature * counts[accel_index]);
} else {
temperature_sum[accel_index] += arp.temperature;
}
}
}
@ -248,8 +238,6 @@ static calibrate_return read_accelerometer_avg(float (&accel_avg)[MAX_ACCEL_SENS
for (unsigned s = 0; s < MAX_ACCEL_SENS; s++) {
const Vector3f avg{accel_sum[s] / counts[s]};
avg.copyTo(accel_avg[s][orient]);
accel_temperature_avg[s] = temperature_sum[s] / counts[s];
}
return calibrate_return_ok;
@ -263,7 +251,7 @@ static calibrate_return accel_calibration_worker(detect_orientation_return orien
calibration_log_info(worker_data->mavlink_log_pub, "[cal] Hold still, measuring %s side",
detect_orientation_str(orientation));
read_accelerometer_avg(worker_data->accel_ref, worker_data->accel_temperature_ref, orientation, samples_num);
read_accelerometer_avg(worker_data->accel_ref, orientation, samples_num);
// check accel
for (unsigned accel_index = 0; accel_index < MAX_ACCEL_SENS; accel_index++) {
@ -414,8 +402,6 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
const Matrix3f accel_T_rotated{board_rotation_t *accel_T * board_rotation};
calibrations[i].set_scale(accel_T_rotated.diag());
calibrations[i].set_temperature(worker_data.accel_temperature_ref[i]);
#if defined(DEBUD_BUILD)
PX4_INFO("accel %d: offset", i);
offset.print();
@ -490,7 +476,6 @@ int do_accel_calibration_quick(orb_advert_t *mavlink_log_pub)
for (unsigned accel_index = 0; accel_index < MAX_ACCEL_SENS; accel_index++) {
sensor_accel_s arp{};
Vector3f accel_sum{};
float temperature_sum{NAN};
unsigned count = 0;
while (accel_subs[accel_index].update(&arp)) {
@ -526,21 +511,11 @@ int do_accel_calibration_quick(orb_advert_t *mavlink_log_pub)
if (diff.norm() < 1.f) {
accel_sum += Vector3f{arp.x, arp.y, arp.z} - offset;
count++;
if (!PX4_ISFINITE(temperature_sum)) {
// set first valid value
temperature_sum = (arp.temperature * count);
} else {
temperature_sum += arp.temperature;
}
}
} else {
accel_sum = accel;
temperature_sum = arp.temperature;
count = 1;
}
}
@ -550,7 +525,6 @@ int do_accel_calibration_quick(orb_advert_t *mavlink_log_pub)
bool calibrated = false;
const Vector3f accel_avg = accel_sum / count;
const float temperature_avg = temperature_sum / count;
Vector3f offset{0.f, 0.f, 0.f};
@ -593,7 +567,6 @@ int do_accel_calibration_quick(orb_advert_t *mavlink_log_pub)
} else {
calibration.set_offset(offset);
calibration.set_temperature(temperature_avg);
if (calibration.ParametersSave(accel_index)) {
calibration.PrintStatus();

12
src/modules/commander/gyro_calibration.cpp
View File

@ -71,7 +71,6 @@ struct gyro_worker_data_t {
calibration::Gyroscope calibrations[MAX_GYROS] {};
Vector3f offset[MAX_GYROS] {};
float temperature[MAX_GYROS] {NAN, NAN, NAN, NAN};
math::MedianFilter<float, 9> filter[3] {};
};
@ -119,14 +118,6 @@ static calibrate_return gyro_calibration_worker(gyro_worker_data_t &worker_data)
calibration_counter[gyro_index]++;
if (!PX4_ISFINITE(worker_data.temperature[gyro_index])) {
// set first valid value
worker_data.temperature[gyro_index] = gyro_report.temperature * calibration_counter[gyro_index];
} else {
worker_data.temperature[gyro_index] += gyro_report.temperature;
}
if (gyro_index == 0) {
worker_data.filter[0].insert(gyro_report.x - thermal_offset(0));
worker_data.filter[1].insert(gyro_report.y - thermal_offset(1));
@ -169,7 +160,6 @@ static calibrate_return gyro_calibration_worker(gyro_worker_data_t &worker_data)
}
worker_data.offset[s] /= calibration_counter[s];
worker_data.temperature[s] /= calibration_counter[s];
}
return calibrate_return_ok;
@ -269,8 +259,6 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
if (calibration.device_id() != 0) {
calibration.set_offset(worker_data.offset[uorb_index]);
calibration.set_temperature(worker_data.temperature[uorb_index]);
calibration.PrintStatus();
if (calibration.ParametersSave(uorb_index, true)) {

15
src/modules/commander/mag_calibration.cpp
View File

@ -94,8 +94,6 @@ struct mag_worker_data_t {
float *y[MAX_MAGS];
float *z[MAX_MAGS];
float temperature[MAX_MAGS] {NAN, NAN, NAN, NAN};
calibration::Magnetometer calibration[MAX_MAGS] {};
};
@ -342,7 +340,6 @@ static calibrate_return mag_calibration_worker(detect_orientation_return orienta
if (mag_sub[0].updatedBlocking(1000_ms)) {
bool rejected = false;
Vector3f new_samples[MAX_MAGS] {};
float new_temperature[MAX_MAGS] {NAN, NAN, NAN, NAN};
for (uint8_t cur_mag = 0; cur_mag < MAX_MAGS; cur_mag++) {
if (worker_data->calibration[cur_mag].device_id() != 0) {
@ -371,7 +368,6 @@ static calibrate_return mag_calibration_worker(detect_orientation_return orienta
if (!reject) {
new_samples[cur_mag] = Vector3f{mag.x, mag.y, mag.z};
new_temperature[cur_mag] = mag.temperature;
updated = true;
break;
}
@ -392,14 +388,6 @@ static calibrate_return mag_calibration_worker(detect_orientation_return orienta
worker_data->y[cur_mag][worker_data->calibration_counter_total[cur_mag]] = new_samples[cur_mag](1);
worker_data->z[cur_mag][worker_data->calibration_counter_total[cur_mag]] = new_samples[cur_mag](2);
if (!PX4_ISFINITE(worker_data->temperature[cur_mag])) {
// set first valid value
worker_data->temperature[cur_mag] = new_temperature[cur_mag];
} else {
worker_data->temperature[cur_mag] = 0.5f * (worker_data->temperature[cur_mag] + new_temperature[cur_mag]);
}
worker_data->calibration_counter_total[cur_mag]++;
}
}
@ -912,8 +900,6 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub, int32_t cal_ma
current_cal.set_offdiagonal(offdiag[cur_mag]);
}
current_cal.set_temperature(worker_data.temperature[cur_mag]);
current_cal.PrintStatus();
if (current_cal.ParametersSave(cur_mag, true)) {
@ -1019,7 +1005,6 @@ int do_mag_calibration_quick(orb_advert_t *mavlink_log_pub, float heading_radian
// use any existing scale and store the offset to the expected earth field
const Vector3f offset = Vector3f{mag.x, mag.y, mag.z} - (cal.scale().I() * cal.rotation().transpose() * expected_field);
cal.set_offset(offset);
cal.set_temperature(mag.temperature);
// save new calibration
if (cal.ParametersSave(cur_mag)) {

1
src/modules/gyro_calibration/GyroCalibration.cpp
View File

@ -246,7 +246,6 @@ void GyroCalibration::Run()
const Vector3f old_offset{_gyro_calibration[gyro].offset()};
if (_gyro_calibration[gyro].set_offset(_gyro_mean[gyro].mean())) {
_gyro_calibration[gyro].set_temperature(_temperature[gyro]);
calibration_updated = true;

36
src/modules/sensors/module.yaml
View File

@ -159,18 +159,6 @@ parameters:
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_ACC${i}_TEMP:
description:
short: Accelerometer ${i} calibration temperature
long: Temperature during last calibration.
category: System
type: float
default: -1000.
unit: celcius
volatile: true
num_instances: *max_num_sensor_instances
instance_start: 0
# Gyroscope calibration
CAL_GYRO${i}_ID:
description:
@ -288,18 +276,6 @@ parameters:
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_GYRO${i}_TEMP:
description:
short: Gyroscope ${i} calibration temperature
long: Temperature during last calibration.
category: System
type: float
default: -1000.
unit: celcius
volatile: true
num_instances: *max_num_sensor_instances
instance_start: 0
# Magnetometer calibration
CAL_MAG${i}_ID:
description:
@ -530,15 +506,3 @@ parameters:
volatile: true
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_MAG${i}_TEMP:
description:
short: Magnetometer ${i} calibration temperature
long: Temperature during last calibration.
category: System
type: float
default: -1000.
unit: celcius
volatile: true
num_instances: *max_num_sensor_instances
instance_start: 0

4
src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp
View File

@ -194,7 +194,6 @@ void VehicleMagnetometer::UpdateMagBiasEstimate()
const Vector3f offset = _calibration[mag_index].BiasCorrectedSensorOffset(_calibration_estimator_bias[mag_index]);
if (_calibration[mag_index].set_offset(offset)) {
_calibration[mag_index].set_temperature(_last_data[mag_index].temperature);
// save parameters with preferred calibration slot to current sensor index
_calibration[mag_index].ParametersSave(mag_index);
@ -253,7 +252,6 @@ void VehicleMagnetometer::UpdateMagCalibration()
_calibration_estimator_bias[mag_index];
_mag_cal[i].variance = bias_variance;
_mag_cal[i].temperature = _last_data[mag_index].temperature;
_in_flight_mag_cal_available = true;
break;
@ -298,8 +296,6 @@ void VehicleMagnetometer::UpdateMagCalibration()
(double)mag_cal_offset(0), (double)mag_cal_offset(1), (double)mag_cal_offset(2),
(double)_mag_cal[i].offset(0), (double)_mag_cal[i].offset(1), (double)_mag_cal[i].offset(2));
_calibration[mag_index].set_temperature(_last_data[mag_index].temperature);
_calibration[mag_index].ParametersSave();
calibration_param_save_needed = true;

1
src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.hpp
View File

@ -119,7 +119,6 @@ private:
uint32_t device_id{0};
matrix::Vector3f offset{};
matrix::Vector3f variance{};
float temperature{NAN};
} _mag_cal[ORB_MULTI_MAX_INSTANCES] {};
uORB::SubscriptionCallbackWorkItem _sensor_sub[MAX_SENSOR_COUNT] {