diff --git a/posix-configs/eagle/init/rcS b/posix-configs/eagle/init/rcS index f6ea2b320e..2a83c791d5 100644 --- a/posix-configs/eagle/init/rcS +++ b/posix-configs/eagle/init/rcS @@ -141,9 +141,6 @@ then param set CAL_GYRO0_XOFF -0.0028 param set CAL_GYRO0_YOFF -0.0047 param set CAL_GYRO0_ZOFF -0.0034 - param set CAL_GYRO0_XSCALE 1.0000 - param set CAL_GYRO0_YSCALE 1.0000 - param set CAL_GYRO0_ZSCALE 1.0000 param set CAL_MAG0_XOFF 0.0000 param set CAL_MAG0_YOFF 0.0000 param set CAL_MAG0_ZOFF 0.0000 diff --git a/posix-configs/excelsior/px4.config b/posix-configs/excelsior/px4.config index 02401b1344..8b1cb6e464 100644 --- a/posix-configs/excelsior/px4.config +++ b/posix-configs/excelsior/px4.config @@ -52,9 +52,6 @@ param set SENS_BOARD_ROT 4 param set CAL_GYRO0_XOFF -0.0028 param set CAL_GYRO0_YOFF -0.0047 param set CAL_GYRO0_ZOFF -0.0034 -param set CAL_GYRO0_XSCALE 1.0000 -param set CAL_GYRO0_YSCALE 1.0000 -param set CAL_GYRO0_ZSCALE 1.0000 param set CAL_MAG0_XOFF 0.0000 param set CAL_MAG0_YOFF 0.0000 param set CAL_MAG0_ZOFF 0.0000 diff --git a/src/drivers/driver_framework_wrapper/df_lsm9ds1_wrapper/df_lsm9ds1_wrapper.cpp b/src/drivers/driver_framework_wrapper/df_lsm9ds1_wrapper/df_lsm9ds1_wrapper.cpp index 6dd641122a..442448f447 100644 --- a/src/drivers/driver_framework_wrapper/df_lsm9ds1_wrapper/df_lsm9ds1_wrapper.cpp +++ b/src/drivers/driver_framework_wrapper/df_lsm9ds1_wrapper/df_lsm9ds1_wrapper.cpp @@ -204,9 +204,6 @@ DfLsm9ds1Wrapper::DfLsm9ds1Wrapper(bool mag_enabled, enum Rotation rotation) : _accel_calibration.y_offset = 0.0f; _accel_calibration.z_offset = 0.0f; - _gyro_calibration.x_scale = 1.0f; - _gyro_calibration.y_scale = 1.0f; - _gyro_calibration.z_scale = 1.0f; _gyro_calibration.x_offset = 0.0f; _gyro_calibration.y_offset = 0.0f; _gyro_calibration.z_offset = 0.0f; @@ -345,27 +342,6 @@ void DfLsm9ds1Wrapper::_update_gyro_calibration() continue; } - (void)sprintf(str, "CAL_GYRO%u_XSCALE", i); - res = param_get(param_find(str), &_gyro_calibration.x_scale); - - if (res != OK) { - PX4_ERR("Could not access param %s", str); - } - - (void)sprintf(str, "CAL_GYRO%u_YSCALE", i); - res = param_get(param_find(str), &_gyro_calibration.y_scale); - - if (res != OK) { - PX4_ERR("Could not access param %s", str); - } - - (void)sprintf(str, "CAL_GYRO%u_ZSCALE", i); - res = param_get(param_find(str), &_gyro_calibration.z_scale); - - if (res != OK) { - PX4_ERR("Could not access param %s", str); - } - (void)sprintf(str, "CAL_GYRO%u_XOFF", i); res = param_get(param_find(str), &_gyro_calibration.x_offset); @@ -391,9 +367,6 @@ void DfLsm9ds1Wrapper::_update_gyro_calibration() return; } - _gyro_calibration.x_scale = 1.0f; - _gyro_calibration.y_scale = 1.0f; - _gyro_calibration.z_scale = 1.0f; _gyro_calibration.x_offset = 0.0f; _gyro_calibration.y_offset = 0.0f; _gyro_calibration.z_offset = 0.0f; @@ -590,9 +563,9 @@ int DfLsm9ds1Wrapper::_publish(struct imu_sensor_data &data) // apply sensor rotation on the gyro measurement gyro_val = _rotation_matrix * gyro_val; // Apply calibration after rotation - gyro_val(0) = (gyro_val(0) - _gyro_calibration.x_offset) * _gyro_calibration.x_scale; - gyro_val(1) = (gyro_val(1) - _gyro_calibration.y_offset) * _gyro_calibration.y_scale; - gyro_val(2) = (gyro_val(2) - _gyro_calibration.z_offset) * _gyro_calibration.z_scale; + gyro_val(0) = gyro_val(0) - _gyro_calibration.x_offset; + gyro_val(1) = gyro_val(1) - _gyro_calibration.y_offset; + gyro_val(2) = gyro_val(2) - _gyro_calibration.z_offset; _gyro_int.put_with_interval(data.fifo_sample_interval_us, gyro_val, vec_integrated_unused, diff --git a/src/drivers/driver_framework_wrapper/df_mpu6050_wrapper/df_mpu6050_wrapper.cpp b/src/drivers/driver_framework_wrapper/df_mpu6050_wrapper/df_mpu6050_wrapper.cpp index e08f3b906f..bc3654fb0a 100644 --- a/src/drivers/driver_framework_wrapper/df_mpu6050_wrapper/df_mpu6050_wrapper.cpp +++ b/src/drivers/driver_framework_wrapper/df_mpu6050_wrapper/df_mpu6050_wrapper.cpp @@ -186,9 +186,6 @@ DfMPU6050Wrapper::DfMPU6050Wrapper(enum Rotation rotation) : _accel_calibration.y_offset = 0.0f; _accel_calibration.z_offset = 0.0f; - _gyro_calibration.x_scale = 1.0f; - _gyro_calibration.y_scale = 1.0f; - _gyro_calibration.z_scale = 1.0f; _gyro_calibration.x_offset = 0.0f; _gyro_calibration.y_offset = 0.0f; _gyro_calibration.z_offset = 0.0f; @@ -286,27 +283,6 @@ void DfMPU6050Wrapper::_update_gyro_calibration() continue; } - (void)sprintf(str, "CAL_GYRO%u_XSCALE", i); - res = param_get(param_find(str), &_gyro_calibration.x_scale); - - if (res != OK) { - PX4_ERR("Could not access param %s", str); - } - - (void)sprintf(str, "CAL_GYRO%u_YSCALE", i); - res = param_get(param_find(str), &_gyro_calibration.y_scale); - - if (res != OK) { - PX4_ERR("Could not access param %s", str); - } - - (void)sprintf(str, "CAL_GYRO%u_ZSCALE", i); - res = param_get(param_find(str), &_gyro_calibration.z_scale); - - if (res != OK) { - PX4_ERR("Could not access param %s", str); - } - (void)sprintf(str, "CAL_GYRO%u_XOFF", i); res = param_get(param_find(str), &_gyro_calibration.x_offset); @@ -332,9 +308,6 @@ void DfMPU6050Wrapper::_update_gyro_calibration() return; } - _gyro_calibration.x_scale = 1.0f; - _gyro_calibration.y_scale = 1.0f; - _gyro_calibration.z_scale = 1.0f; _gyro_calibration.x_offset = 0.0f; _gyro_calibration.y_offset = 0.0f; _gyro_calibration.z_offset = 0.0f; @@ -454,9 +427,9 @@ int DfMPU6050Wrapper::_publish(struct imu_sensor_data &data) // apply sensor rotation on the gyro measurement gyro_val = _rotation_matrix * gyro_val; - gyro_val(0) = (gyro_val(0) - _gyro_calibration.x_offset) * _gyro_calibration.x_scale; - gyro_val(1) = (gyro_val(1) - _gyro_calibration.y_offset) * _gyro_calibration.y_scale; - gyro_val(2) = (gyro_val(2) - _gyro_calibration.z_offset) * _gyro_calibration.z_scale; + gyro_val(0) = gyro_val(0) - _gyro_calibration.x_offset; + gyro_val(1) = gyro_val(1) - _gyro_calibration.y_offset; + gyro_val(2) = gyro_val(2) - _gyro_calibration.z_offset; _gyro_int.put(now, gyro_val, diff --git a/src/drivers/driver_framework_wrapper/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp b/src/drivers/driver_framework_wrapper/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp index 5f109d2619..28be051cb8 100644 --- a/src/drivers/driver_framework_wrapper/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp +++ b/src/drivers/driver_framework_wrapper/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp @@ -224,9 +224,6 @@ DfMpu9250Wrapper::DfMpu9250Wrapper(bool mag_enabled, enum Rotation rotation) : _accel_calibration.y_offset = 0.0f; _accel_calibration.z_offset = 0.0f; - _gyro_calibration.x_scale = 1.0f; - _gyro_calibration.y_scale = 1.0f; - _gyro_calibration.z_scale = 1.0f; _gyro_calibration.x_offset = 0.0f; _gyro_calibration.y_offset = 0.0f; _gyro_calibration.z_offset = 0.0f; @@ -387,27 +384,6 @@ void DfMpu9250Wrapper::_update_gyro_calibration() continue; } - (void)sprintf(str, "CAL_GYRO%u_XSCALE", i); - res = param_get(param_find(str), &_gyro_calibration.x_scale); - - if (res != OK) { - PX4_ERR("Could not access param %s", str); - } - - (void)sprintf(str, "CAL_GYRO%u_YSCALE", i); - res = param_get(param_find(str), &_gyro_calibration.y_scale); - - if (res != OK) { - PX4_ERR("Could not access param %s", str); - } - - (void)sprintf(str, "CAL_GYRO%u_ZSCALE", i); - res = param_get(param_find(str), &_gyro_calibration.z_scale); - - if (res != OK) { - PX4_ERR("Could not access param %s", str); - } - (void)sprintf(str, "CAL_GYRO%u_XOFF", i); res = param_get(param_find(str), &_gyro_calibration.x_offset); @@ -433,9 +409,6 @@ void DfMpu9250Wrapper::_update_gyro_calibration() return; } - _gyro_calibration.x_scale = 1.0f; - _gyro_calibration.y_scale = 1.0f; - _gyro_calibration.z_scale = 1.0f; _gyro_calibration.x_offset = 0.0f; _gyro_calibration.y_offset = 0.0f; _gyro_calibration.z_offset = 0.0f; @@ -668,9 +641,9 @@ int DfMpu9250Wrapper::_publish(struct imu_sensor_data &data) gyro_report.z_raw = (int16_t)(zraw_f * 1000); // (int16) [rad / s * 1000]; // adjust values according to the calibration - float x_gyro_in_new = (xraw_f - _gyro_calibration.x_offset) * _gyro_calibration.x_scale; - float y_gyro_in_new = (yraw_f - _gyro_calibration.y_offset) * _gyro_calibration.y_scale; - float z_gyro_in_new = (zraw_f - _gyro_calibration.z_offset) * _gyro_calibration.z_scale; + float x_gyro_in_new = xraw_f - _gyro_calibration.x_offset; + float y_gyro_in_new = yraw_f - _gyro_calibration.y_offset; + float z_gyro_in_new = zraw_f - _gyro_calibration.z_offset; gyro_report.x = _gyro_filter_x.apply(x_gyro_in_new); gyro_report.y = _gyro_filter_y.apply(y_gyro_in_new); diff --git a/src/drivers/drv_gyro.h b/src/drivers/drv_gyro.h index 05f6b67ea1..945ee92e97 100644 --- a/src/drivers/drv_gyro.h +++ b/src/drivers/drv_gyro.h @@ -50,14 +50,11 @@ #include -/** gyro scaling factors; Vout = (Vin * Vscale) + Voffset */ +/** gyro scaling factors; Vout = Vin + Voffset */ struct gyro_calibration_s { float x_offset; - float x_scale; float y_offset; - float y_scale; float z_offset; - float z_scale; }; /* diff --git a/src/drivers/qurt/fc_addon/mpu_spi/mpu9x50_main.cpp b/src/drivers/qurt/fc_addon/mpu_spi/mpu9x50_main.cpp index 3cefb042ba..6d31c63943 100644 --- a/src/drivers/qurt/fc_addon/mpu_spi/mpu9x50_main.cpp +++ b/src/drivers/qurt/fc_addon/mpu_spi/mpu9x50_main.cpp @@ -114,11 +114,8 @@ struct { param_t accel_z_offset; param_t accel_z_scale; param_t gyro_x_offset; - param_t gyro_x_scale; param_t gyro_y_offset; - param_t gyro_y_scale; param_t gyro_z_offset; - param_t gyro_z_scale; param_t mag_x_offset; param_t mag_x_scale; param_t mag_y_offset; @@ -245,31 +242,16 @@ void parameters_update() PX4_DEBUG("mpu9x50_parameters_update gyro_x_offset %f", v); } - if (param_get(_params_handles.gyro_x_scale, &v) == 0) { - _gyro_sc.x_scale = v; - PX4_DEBUG("mpu9x50_parameters_update gyro_x_scale %f", v); - } - if (param_get(_params_handles.gyro_y_offset, &v) == 0) { _gyro_sc.y_offset = v; PX4_DEBUG("mpu9x50_parameters_update gyro_y_offset %f", v); } - if (param_get(_params_handles.gyro_y_scale, &v) == 0) { - _gyro_sc.y_scale = v; - PX4_DEBUG("mpu9x50_parameters_update gyro_y_scale %f", v); - } - if (param_get(_params_handles.gyro_z_offset, &v) == 0) { _gyro_sc.z_offset = v; PX4_DEBUG("mpu9x50_parameters_update gyro_z_offset %f", v); } - if (param_get(_params_handles.gyro_z_scale, &v) == 0) { - _gyro_sc.z_scale = v; - PX4_DEBUG("mpu9x50_parameters_update gyro_z_scale %f", v); - } - // mag params if (param_get(_params_handles.mag_x_offset, &v) == 0) { _mag_sc.x_offset = v; @@ -343,11 +325,8 @@ void parameters_init() _params_handles.accel_z_scale = param_find("CAL_ACC0_ZSCALE"); _params_handles.gyro_x_offset = param_find("CAL_GYRO0_XOFF"); - _params_handles.gyro_x_scale = param_find("CAL_GYRO0_XSCALE"); _params_handles.gyro_y_offset = param_find("CAL_GYRO0_YOFF"); - _params_handles.gyro_y_scale = param_find("CAL_GYRO0_YSCALE"); _params_handles.gyro_z_offset = param_find("CAL_GYRO0_ZOFF"); - _params_handles.gyro_z_scale = param_find("CAL_GYRO0_ZSCALE"); _params_handles.mag_x_offset = param_find("CAL_MAG0_XOFF"); _params_handles.mag_x_scale = param_find("CAL_MAG0_XSCALE"); @@ -401,9 +380,9 @@ bool create_pubs() void update_reports() { _gyro.timestamp = _data.timestamp; - _gyro.x = ((_data.gyro_raw[0] * _data.gyro_scaling) - _gyro_sc.x_offset) * _gyro_sc.x_scale; - _gyro.y = ((_data.gyro_raw[1] * _data.gyro_scaling) - _gyro_sc.y_offset) * _gyro_sc.y_scale; - _gyro.z = ((_data.gyro_raw[2] * _data.gyro_scaling) - _gyro_sc.z_offset) * _gyro_sc.z_scale; + _gyro.x = (_data.gyro_raw[0] * _data.gyro_scaling) - _gyro_sc.x_offset; + _gyro.y = (_data.gyro_raw[1] * _data.gyro_scaling) - _gyro_sc.y_offset; + _gyro.z = (_data.gyro_raw[2] * _data.gyro_scaling) - _gyro_sc.z_offset; _gyro.temperature = _data.temperature; _gyro.scaling = _data.gyro_scaling; _gyro.x_raw = _data.gyro_raw[0]; diff --git a/src/lib/drivers/gyroscope/PX4Gyroscope.cpp b/src/lib/drivers/gyroscope/PX4Gyroscope.cpp index 07a11d07c9..f78dacaf04 100644 --- a/src/lib/drivers/gyroscope/PX4Gyroscope.cpp +++ b/src/lib/drivers/gyroscope/PX4Gyroscope.cpp @@ -71,7 +71,6 @@ PX4Gyroscope::ioctl(cdev::file_t *filp, int cmd, unsigned long arg) memcpy(&cal, (gyro_calibration_s *) arg, sizeof(cal)); _calibration_offset = matrix::Vector3f{cal.x_offset, cal.y_offset, cal.z_offset}; - _calibration_scale = matrix::Vector3f{cal.x_scale, cal.y_scale, cal.z_scale}; } return PX4_OK; @@ -118,7 +117,7 @@ PX4Gyroscope::update(hrt_abstime timestamp, float x, float y, float z) const matrix::Vector3f raw{x, y, z}; // Apply range scale and the calibrating offset/scale - const matrix::Vector3f val_calibrated{(((raw * report.scaling) - _calibration_offset).emult(_calibration_scale))}; + const matrix::Vector3f val_calibrated{((raw * report.scaling) - _calibration_offset)}; // Filtered values const matrix::Vector3f val_filtered{_filter.apply(val_calibrated)}; @@ -176,8 +175,6 @@ PX4Gyroscope::print_status() PX4_INFO("sample rate: %d Hz", _sample_rate); PX4_INFO("filter cutoff: %.3f Hz", (double)_filter.get_cutoff_freq()); - PX4_INFO("calibration scale: %.5f %.5f %.5f", (double)_calibration_scale(0), (double)_calibration_scale(1), - (double)_calibration_scale(2)); PX4_INFO("calibration offset: %.5f %.5f %.5f", (double)_calibration_offset(0), (double)_calibration_offset(1), (double)_calibration_offset(2)); diff --git a/src/lib/drivers/gyroscope/PX4Gyroscope.hpp b/src/lib/drivers/gyroscope/PX4Gyroscope.hpp index eaf8ac2953..6999200ff1 100644 --- a/src/lib/drivers/gyroscope/PX4Gyroscope.hpp +++ b/src/lib/drivers/gyroscope/PX4Gyroscope.hpp @@ -77,7 +77,6 @@ private: const enum Rotation _rotation; - matrix::Vector3f _calibration_scale{1.0f, 1.0f, 1.0f}; matrix::Vector3f _calibration_offset{0.0f, 0.0f, 0.0f}; int _class_device_instance{-1}; diff --git a/src/modules/commander/gyro_calibration.cpp b/src/modules/commander/gyro_calibration.cpp index 3590a197d5..6a7fedce7b 100644 --- a/src/modules/commander/gyro_calibration.cpp +++ b/src/modules/commander/gyro_calibration.cpp @@ -217,14 +217,7 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub) worker_data.mavlink_log_pub = mavlink_log_pub; - struct gyro_calibration_s gyro_scale_zero; - gyro_scale_zero.x_offset = 0.0f; - gyro_scale_zero.x_scale = 1.0f; - gyro_scale_zero.y_offset = 0.0f; - gyro_scale_zero.y_scale = 1.0f; - gyro_scale_zero.z_offset = 0.0f; - gyro_scale_zero.z_scale = 1.0f; - + gyro_calibration_s gyro_scale_zero{}; int device_prio_max = 0; int32_t device_id_primary = 0; @@ -245,7 +238,7 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub) return PX4_ERROR; } - // Reset all offsets to 0 and scales to 1 + // Reset all offsets to 0 (void)memcpy(&worker_data.gyro_scale[s], &gyro_scale_zero, sizeof(gyro_scale_zero)); #ifdef __PX4_NUTTX sprintf(str, "%s%u", GYRO_BASE_DEVICE_PATH, s); @@ -284,27 +277,6 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub) PX4_ERR("unable to reset %s", str); } - (void)sprintf(str, "CAL_GYRO%u_XSCALE", s); - res = param_set_no_notification(param_find(str), &gyro_scale_zero.x_scale); - - if (res != PX4_OK) { - PX4_ERR("unable to reset %s", str); - } - - (void)sprintf(str, "CAL_GYRO%u_YSCALE", s); - res = param_set_no_notification(param_find(str), &gyro_scale_zero.y_scale); - - if (res != PX4_OK) { - PX4_ERR("unable to reset %s", str); - } - - (void)sprintf(str, "CAL_GYRO%u_ZSCALE", s); - res = param_set_no_notification(param_find(str), &gyro_scale_zero.z_scale); - - if (res != PX4_OK) { - PX4_ERR("unable to reset %s", str); - } - param_notify_changes(); #endif diff --git a/src/modules/events/temperature_calibration/gyro.cpp b/src/modules/events/temperature_calibration/gyro.cpp index b29d70a71f..1f34b88c0b 100644 --- a/src/modules/events/temperature_calibration/gyro.cpp +++ b/src/modules/events/temperature_calibration/gyro.cpp @@ -60,15 +60,11 @@ void TemperatureCalibrationGyro::reset_calibration() { /* reset all driver level calibrations */ float offset = 0.0f; - float scale = 1.0f; for (unsigned s = 0; s < 3; s++) { set_parameter("CAL_GYRO%u_XOFF", s, &offset); set_parameter("CAL_GYRO%u_YOFF", s, &offset); set_parameter("CAL_GYRO%u_ZOFF", s, &offset); - set_parameter("CAL_GYRO%u_XSCALE", s, &scale); - set_parameter("CAL_GYRO%u_YSCALE", s, &scale); - set_parameter("CAL_GYRO%u_ZSCALE", s, &scale); } } diff --git a/src/modules/sensors/sensor_params_gyro0.c b/src/modules/sensors/sensor_params_gyro0.c index 46024e1f8c..6e324d0086 100644 --- a/src/modules/sensors/sensor_params_gyro0.c +++ b/src/modules/sensors/sensor_params_gyro0.c @@ -72,26 +72,3 @@ PARAM_DEFINE_FLOAT(CAL_GYRO0_YOFF, 0.0f); */ PARAM_DEFINE_FLOAT(CAL_GYRO0_ZOFF, 0.0f); -/** - * Gyro X-axis scaling factor - * - * @category system - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_GYRO0_XSCALE, 1.0f); - -/** - * Gyro Y-axis scaling factor - * - * @category system - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_GYRO0_YSCALE, 1.0f); - -/** - * Gyro Z-axis scaling factor - * - * @category system - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_GYRO0_ZSCALE, 1.0f); diff --git a/src/modules/sensors/sensor_params_gyro1.c b/src/modules/sensors/sensor_params_gyro1.c index a5b16689f4..6143613c2d 100644 --- a/src/modules/sensors/sensor_params_gyro1.c +++ b/src/modules/sensors/sensor_params_gyro1.c @@ -72,26 +72,3 @@ PARAM_DEFINE_FLOAT(CAL_GYRO1_YOFF, 0.0f); */ PARAM_DEFINE_FLOAT(CAL_GYRO1_ZOFF, 0.0f); -/** - * Gyro X-axis scaling factor - * - * @category system - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_GYRO1_XSCALE, 1.0f); - -/** - * Gyro Y-axis scaling factor - * - * @category system - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_GYRO1_YSCALE, 1.0f); - -/** - * Gyro Z-axis scaling factor - * - * @category system - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_GYRO1_ZSCALE, 1.0f); diff --git a/src/modules/sensors/sensor_params_gyro2.c b/src/modules/sensors/sensor_params_gyro2.c index 977a2c10a7..598c99b0da 100644 --- a/src/modules/sensors/sensor_params_gyro2.c +++ b/src/modules/sensors/sensor_params_gyro2.c @@ -72,26 +72,3 @@ PARAM_DEFINE_FLOAT(CAL_GYRO2_YOFF, 0.0f); */ PARAM_DEFINE_FLOAT(CAL_GYRO2_ZOFF, 0.0f); -/** - * Gyro X-axis scaling factor - * - * @category system - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_GYRO2_XSCALE, 1.0f); - -/** - * Gyro Y-axis scaling factor - * - * @category system - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_GYRO2_YSCALE, 1.0f); - -/** - * Gyro Z-axis scaling factor - * - * @category system - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_GYRO2_ZSCALE, 1.0f); diff --git a/src/modules/sensors/voted_sensors_update.cpp b/src/modules/sensors/voted_sensors_update.cpp index ff52cbac51..1b885f639f 100644 --- a/src/modules/sensors/voted_sensors_update.cpp +++ b/src/modules/sensors/voted_sensors_update.cpp @@ -265,18 +265,6 @@ void VotedSensorsUpdate::parametersUpdate() failed = failed || (OK != param_get(param_find(str), &gscale.z_offset)); - (void)sprintf(str, "CAL_GYRO%u_XSCALE", i); - - failed = failed || (OK != param_get(param_find(str), &gscale.x_scale)); - - (void)sprintf(str, "CAL_GYRO%u_YSCALE", i); - - failed = failed || (OK != param_get(param_find(str), &gscale.y_scale)); - - (void)sprintf(str, "CAL_GYRO%u_ZSCALE", i); - - failed = failed || (OK != param_get(param_find(str), &gscale.z_scale)); - if (failed) { PX4_ERR(CAL_ERROR_APPLY_CAL_MSG, "gyro", i);