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Add prototype IMU temperature compensation
Enabled using TC_A_ENABLE and TC_G_ENABLE parameters Disabled by default. IMU offsets and scale factors for selected sensor published to sensor_correction topic TODO Parameter storage method is cumbersome
This commit is contained in:
Paul Riseborough
committed by
Lorenz Meier
Lorenz Meier
parent
9599f58c5d
commit
63f032832f
@@ -0,0 +1,454 @@
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/****************************************************************************
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*
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* Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file temp_comp_params_accel.c
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*
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* Parameters required for temperature compensation of rate Accelerometers.
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*
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* @author Paul Riseborough <gncsolns@gmail.com>
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*/
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/**
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* Set to 1 to enable thermal compensation for accelerometer sensors. Set to 0 to disable.
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*
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* @group Sensor Thermal Compensation
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* @min 0
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* @max 1
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*/
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PARAM_DEFINE_INT32(TC_A_ENABLE, 0);
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/* Accelerometer 0 */
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/**
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* ID of Accelerometer that the calibration is for.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_INT32(TC_A0_ID, 0);
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/**
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* Accelerometer offset temperature ^3 polynomial coefficient - X axis.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A0_X3_0, 0.0f);
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/**
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* Accelerometer offset temperature ^3 polynomial coefficient - Y axis.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A0_X3_1, 0.0f);
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/**
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* Accelerometer offset temperature ^3 polynomial coefficient - Z axis.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A0_X3_2, 0.0f);
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/**
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* Accelerometer offset temperature ^2 polynomial coefficient - X axis.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A0_X2_0, 0.0f);
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/**
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* Accelerometer offset temperature ^2 polynomial coefficient - Y axis.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A0_X2_1, 0.0f);
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/**
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* Accelerometer offset temperature ^2 polynomial coefficient - Z axis.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A0_X2_2, 0.0f);
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/**
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* Accelerometer offset temperature ^1 polynomial coefficient - X axis.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A0_X1_0, 0.0f);
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/**
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* Accelerometer offset temperature ^1 polynomial coefficient - Y axis.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A0_X1_1, 0.0f);
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/**
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* Accelerometer offset temperature ^1 polynomial coefficient - Z axis.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A0_X1_2, 0.0f);
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/**
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* Accelerometer offset temperature ^0 polynomial coefficient - X axis.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A0_X0_0, 0.0f);
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/**
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* Accelerometer offset temperature ^0 polynomial coefficient - Y axis.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A0_X0_1, 0.0f);
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/**
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* Accelerometer offset temperature ^0 polynomial coefficient - Z axis.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A0_X0_2, 0.0f);
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/**
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* Accelerometer scale factor - X axis.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A0_SCL_0, 1.0f);
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/**
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* Accelerometer scale factor - Y axis.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A0_SCL_1, 1.0f);
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/**
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* Accelerometer scale factor - Z axis.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A0_SCL_2, 1.0f);
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/**
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* Accelerometer calibration reference temperature.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A0_TREF, 25.0f);
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/**
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* Accelerometer calibration minimum temperature.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A0_TMIN, 0.0f);
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/**
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* Accelerometer calibration maximum temperature.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A0_TMAX, 100.0f);
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/* Accelerometer 1 */
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/**
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* ID of Accelerometer that the calibration is for.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_INT32(TC_A1_ID, 0);
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/**
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* Accelerometer offset temperature ^3 polynomial coefficient - X axis.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A1_X3_0, 0.0f);
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/**
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* Accelerometer offset temperature ^3 polynomial coefficient - Y axis.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A1_X3_1, 0.0f);
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/**
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* Accelerometer offset temperature ^3 polynomial coefficient - Z axis.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A1_X3_2, 0.0f);
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/**
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* Accelerometer offset temperature ^2 polynomial coefficient - X axis.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A1_X2_0, 0.0f);
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/**
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* Accelerometer offset temperature ^2 polynomial coefficient - Y axis.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A1_X2_1, 0.0f);
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/**
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* Accelerometer offset temperature ^2 polynomial coefficient - Z axis.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A1_X2_2, 0.0f);
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/**
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* Accelerometer offset temperature ^1 polynomial coefficient - X axis.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A1_X1_0, 0.0f);
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/**
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* Accelerometer offset temperature ^1 polynomial coefficient - Y axis.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A1_X1_1, 0.0f);
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/**
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* Accelerometer offset temperature ^1 polynomial coefficient - Z axis.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A1_X1_2, 0.0f);
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/**
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* Accelerometer offset temperature ^0 polynomial coefficient - X axis.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A1_X0_0, 0.0f);
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/**
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* Accelerometer offset temperature ^0 polynomial coefficient - Y axis.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A1_X0_1, 0.0f);
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/**
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* Accelerometer offset temperature ^0 polynomial coefficient - Z axis.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A1_X0_2, 0.0f);
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/**
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* Accelerometer scale factor - X axis.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A1_SCL_0, 1.0f);
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/**
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* Accelerometer scale factor - Y axis.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A1_SCL_1, 1.0f);
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/**
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* Accelerometer scale factor - Z axis.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A1_SCL_2, 1.0f);
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/**
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* Accelerometer calibration reference temperature.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A1_TREF, 25.0f);
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/**
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* Accelerometer calibration minimum temperature.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A1_TMIN, 0.0f);
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/**
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* Accelerometer calibration maximum temperature.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A1_TMAX, 100.0f);
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/* Accelerometer 2 */
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/**
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* ID of Accelerometer that the calibration is for.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_INT32(TC_A2_ID, 0);
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/**
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* Accelerometer offset temperature ^3 polynomial coefficient - X axis.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A2_X3_0, 0.0f);
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/**
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* Accelerometer offset temperature ^3 polynomial coefficient - Y axis.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A2_X3_1, 0.0f);
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/**
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* Accelerometer offset temperature ^3 polynomial coefficient - Z axis.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A2_X3_2, 0.0f);
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/**
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* Accelerometer offset temperature ^2 polynomial coefficient - X axis.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A2_X2_0, 0.0f);
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/**
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* Accelerometer offset temperature ^2 polynomial coefficient - Y axis.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A2_X2_1, 0.0f);
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/**
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* Accelerometer offset temperature ^2 polynomial coefficient - Z axis.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A2_X2_2, 0.0f);
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/**
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* Accelerometer offset temperature ^1 polynomial coefficient - X axis.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A2_X1_0, 0.0f);
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/**
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* Accelerometer offset temperature ^1 polynomial coefficient - Y axis.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A2_X1_1, 0.0f);
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/**
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* Accelerometer offset temperature ^1 polynomial coefficient - Z axis.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A2_X1_2, 0.0f);
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/**
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* Accelerometer offset temperature ^0 polynomial coefficient - X axis.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A2_X0_0, 0.0f);
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/**
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* Accelerometer offset temperature ^0 polynomial coefficient - Y axis.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A2_X0_1, 0.0f);
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/**
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* Accelerometer offset temperature ^0 polynomial coefficient - Z axis.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A2_X0_2, 0.0f);
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/**
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* Accelerometer scale factor - X axis.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A2_SCL_0, 1.0f);
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/**
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* Accelerometer scale factor - Y axis.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A2_SCL_1, 1.0f);
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/**
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* Accelerometer scale factor - Z axis.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A2_SCL_2, 1.0f);
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/**
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* Accelerometer calibration reference temperature.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A2_TREF, 25.0f);
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/**
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* Accelerometer calibration minimum temperature.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A2_TMIN, 0.0f);
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/**
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* Accelerometer calibration maximum temperature.
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*
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* @group Sensor Thermal Compensation
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*/
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PARAM_DEFINE_FLOAT(TC_A2_TMAX, 100.0f);
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