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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/modules/commander/gyro_calibration.cpp
-12
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@@ -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)) {