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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/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)