sensor calibration delete temperature (CAL_ACCx_TEMP, CAL_GYROx_TEMP, CAL_MAGx_TEMP)

- 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)

src/lib/sensor_calibration/Accelerometer.cpp

@@ -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)_scale(0), (double)_scale(1), (double)_scale(2));
-			     (double)_temperature);
 	}
 
 	if (_thermal_offset.norm() > 0.f) {

src/lib/sensor_calibration/Accelerometer.hpp

@@ -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

@@ -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)_offset(0), (double)_offset(1), (double)_offset(2));
-			     (double)_temperature);
 	}
 
 	if (_thermal_offset.norm() > 0.f) {

src/lib/sensor_calibration/Gyroscope.hpp

@@ -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

@@ -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)_scale(0, 0), (double)_scale(1, 1), (double)_scale(2, 2));
-			     (double)_temperature);
 	}
 
 #if defined(DEBUG_BUILD)

src/lib/sensor_calibration/Magnetometer.hpp

@@ -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

@@ -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

@@ -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.

src/modules/commander/accelerometer_calibration.cpp

@@ -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();

src/modules/commander/gyro_calibration.cpp

@@ -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)) {

src/modules/commander/mag_calibration.cpp

@@ -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)) {

src/modules/gyro_calibration/GyroCalibration.cpp

@@ -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;
 

src/modules/sensors/module.yaml

@@ -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

src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp

@@ -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;

src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.hpp

@@ -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] {