From 4f5e50396c774c5c3b76d721c1bf9a64d6195d1a Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sat, 3 Oct 2015 13:13:55 +0200
Subject: [PATCH] Sensors app: Stop the bad habit of params per board

---
 src/modules/sensors/sensor_params.c | 25 +------------------------
 src/modules/sensors/sensors.cpp     | 10 ++++++++++
 2 files changed, 11 insertions(+), 24 deletions(-)

diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c
index eba4d7077c..06f57a26a9 100644
--- a/src/modules/sensors/sensor_params.c
+++ b/src/modules/sensors/sensor_params.c
@@ -1807,36 +1807,13 @@ PARAM_DEFINE_INT32(RC_DSM_BIND, -1);
  */
 PARAM_DEFINE_INT32(BAT_V_SCALE_IO, 10000);
 
-#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
 /**
  * Scaling factor for battery voltage sensor on FMU v2.
  *
  * @board CONFIG_ARCH_BOARD_PX4FMU_V2
  * @group Battery Calibration
  */
-PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.0082f);
-#elif CONFIG_ARCH_BOARD_AEROCORE
-/**
- * Scaling factor for battery voltage sensor on AeroCore.
- *
- * For R70 = 133K, R71 = 10K --> scale = 1.8 * 143 / (4096*10) = 0.0063
- *
- * @board CONFIG_ARCH_BOARD_AEROCORE
- * @group Battery Calibration
- */
-PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.0063f);
-#else
-/**
- * Scaling factor for battery voltage sensor on FMU v1.
- *
- * FMUv1 standalone: 1/(10 / (47+10)) * (3.3 / 4095) = 0.00459340659
- * FMUv1 with PX4IO: 0.00459340659
- * FMUv1 with PX4IOAR: (3.3f * 52.0f / 5.0f / 4095.0f) = 0.00838095238
- *
- * @group Battery Calibration
- */
-PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.00459340659f);
-#endif
+PARAM_DEFINE_FLOAT(BAT_V_SCALING, -1.0f);
 
 /**
  * Scaling factor for battery current sensor.
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index 43f10a80ff..2b275f6521 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -825,6 +825,16 @@ Sensors::parameters_update()
 	/* scaling of ADC ticks to battery voltage */
 	if (param_get(_parameter_handles.battery_voltage_scaling, &(_parameters.battery_voltage_scaling)) != OK) {
 		warnx("%s", paramerr);
+	} else if (_parameters.battery_voltage_scaling < 0.0f) {
+		/* apply scaling according to defaults if set to default */
+
+		#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
+		_parameters.battery_voltage_scaling = 0.0082f;
+		#elif CONFIG_ARCH_BOARD_AEROCORE
+		_parameters.battery_voltage_scaling = 0.0063f;
+		#else
+		_parameters.battery_voltage_scaling = 0.00459340659f;
+		#endif
 	}
 
 	/* scaling of ADC ticks to battery current */