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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
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@@ -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) {