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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
15 changed files with 11 additions and 196 deletions
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src/lib/sensor_calibration/Accelerometer.cpp
+3 -23
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) {
src/lib/sensor_calibration/Accelerometer.hpp
-4
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};
src/lib/sensor_calibration/Gyroscope.cpp
+3 -23
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) {
src/lib/sensor_calibration/Gyroscope.hpp
-4
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};
src/lib/sensor_calibration/Magnetometer.cpp
+3 -24
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)
src/lib/sensor_calibration/Magnetometer.hpp
-4
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};
src/lib/sensor_calibration/Utilities.cpp
-15
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};
src/lib/sensor_calibration/Utilities.hpp
-1
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.