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move sensor calibration parameters to yaml

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This commit is contained in:
Daniel Agar
2022-01-07 16:24:06 -05:00
parent bbad4a5397
commit 6c97700eaa
14 changed files with 548 additions and 2329 deletions
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src/modules/sensors/CMakeLists.txt
+4 -1
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@@ -45,8 +45,11 @@ px4_add_module(
MODULE modules__sensors
MAIN sensors
SRCS
voted_sensors_update.cpp
sensors.cpp
voted_sensors_update.cpp
voted_sensors_update.h
MODULE_CONFIG
module.yaml
DEPENDS
airspeed
conversion
src/modules/sensors/module.yaml
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@@ -0,0 +1,544 @@
__max_num_sensor_instances: &max_num_sensor_instances 4
module_name: sensors
parameters:
- group: Sensor Calibration
definitions:
# Accelerometer calibration
CAL_ACC${i}_ID:
description:
short: Accelerometer ${i} calibration device ID
long: Device ID of the accelerometer this calibration applies to.
category: System
type: int32
default: 0
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_ACC${i}_PRIO:
description:
short: Accelerometer ${i} priority
category: System
type: enum
values:
-1: Uninitialized
0: Disabled
1: Min
25: Low
50: Medium (Default)
75: High
100: Max
default: -1
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_ACC${i}_ROT:
description:
short: Accelerometer ${i} rotation relative to airframe
long: |
An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.
category: System
type: enum
values:
-1: Internal
0: No rotation
1: Yaw 45°
2: Yaw 90°
3: Yaw 135°
4: Yaw 180°
5: Yaw 225°
6: Yaw 270°
7: Yaw 315°
8: Roll 180°
9: Roll 180°, Yaw 45°
10: Roll 180°, Yaw 90°
11: Roll 180°, Yaw 135°
12: Pitch 180°
13: Roll 180°, Yaw 225°
14: Roll 180°, Yaw 270°
15: Roll 180°, Yaw 315°
16: Roll 90°
17: Roll 90°, Yaw 45°
18: Roll 90°, Yaw 90°
19: Roll 90°, Yaw 135°
20: Roll 270°
21: Roll 270°, Yaw 45°
22: Roll 270°, Yaw 90°
23: Roll 270°, Yaw 135°
24: Pitch 90°
25: Pitch 270°
26: Pitch 180°, Yaw 90°
27: Pitch 180°, Yaw 270°
28: Roll 90°, Pitch 90°
29: Roll 180°, Pitch 90°
30: Roll 270°, Pitch 90°
31: Roll 90°, Pitch 180°
32: Roll 270°, Pitch 180°
33: Roll 90°, Pitch 270°
34: Roll 180°, Pitch 270°
35: Roll 270°, Pitch 270°
36: Roll 90°, Pitch 180°, Yaw 90°
37: Roll 90°, Yaw 270°
38: Roll 90°, Pitch 68°, Yaw 293°
39: Pitch 315°
40: Roll 90°, Pitch 315°
min: -1
max: 40
default: -1
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_ACC${i}_XOFF:
description:
short: Accelerometer ${i} X-axis offset
category: System
type: float
default: 0.0
unit: m
volatile: true
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_ACC${i}_YOFF:
description:
short: Accelerometer ${i} Y-axis offset
category: System
type: float
default: 0.0
unit: m
volatile: true
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_ACC${i}_ZOFF:
description:
short: Accelerometer ${i} Z-axis offset
category: System
type: float
default: 0.0
unit: m
volatile: true
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_ACC${i}_XSCALE:
description:
short: Accelerometer ${i} X-axis scaling factor
category: System
type: float
default: 1.0
min: 0.1
max: 3.0
volatile: true
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_ACC${i}_YSCALE:
description:
short: Accelerometer ${i} Y-axis scaling factor
category: System
type: float
default: 1.0
min: 0.1
max: 3.0
volatile: true
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_ACC${i}_ZSCALE:
description:
short: Accelerometer ${i} Z-axis scaling factor
category: System
type: float
default: 1.0
min: 0.1
max: 3.0
volatile: true
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_ACC${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:
short: Gyroscope ${i} calibration device ID
long: Device ID of the gyroscope this calibration applies to.
category: System
type: int32
default: 0
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_GYRO${i}_PRIO:
description:
short: Gyroscope ${i} priority
category: System
type: enum
values:
-1: Uninitialized
0: Disabled
1: Min
25: Low
50: Medium (Default)
75: High
100: Max
default: -1
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_GYRO${i}_ROT:
description:
short: Gyroscope ${i} rotation relative to airframe
long: |
An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.
category: System
type: enum
values:
-1: Internal
0: No rotation
1: Yaw 45°
2: Yaw 90°
3: Yaw 135°
4: Yaw 180°
5: Yaw 225°
6: Yaw 270°
7: Yaw 315°
8: Roll 180°
9: Roll 180°, Yaw 45°
10: Roll 180°, Yaw 90°
11: Roll 180°, Yaw 135°
12: Pitch 180°
13: Roll 180°, Yaw 225°
14: Roll 180°, Yaw 270°
15: Roll 180°, Yaw 315°
16: Roll 90°
17: Roll 90°, Yaw 45°
18: Roll 90°, Yaw 90°
19: Roll 90°, Yaw 135°
20: Roll 270°
21: Roll 270°, Yaw 45°
22: Roll 270°, Yaw 90°
23: Roll 270°, Yaw 135°
24: Pitch 90°
25: Pitch 270°
26: Pitch 180°, Yaw 90°
27: Pitch 180°, Yaw 270°
28: Roll 90°, Pitch 90°
29: Roll 180°, Pitch 90°
30: Roll 270°, Pitch 90°
31: Roll 90°, Pitch 180°
32: Roll 270°, Pitch 180°
33: Roll 90°, Pitch 270°
34: Roll 180°, Pitch 270°
35: Roll 270°, Pitch 270°
36: Roll 90°, Pitch 180°, Yaw 90°
37: Roll 90°, Yaw 270°
38: Roll 90°, Pitch 68°, Yaw 293°
39: Pitch 315°
40: Roll 90°, Pitch 315°
min: -1
max: 40
default: -1
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_GYRO${i}_XOFF:
description:
short: Gyroscope ${i} X-axis offset
category: System
type: float
default: 0.0
unit: m
volatile: true
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_GYRO${i}_YOFF:
description:
short: Gyroscope ${i} Y-axis offset
category: System
type: float
default: 0.0
unit: m
volatile: true
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_GYRO${i}_ZOFF:
description:
short: Gyroscope ${i} Z-axis offset
category: System
type: float
default: 0.0
unit: m
volatile: true
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_GYRO${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:
short: Magnetometer ${i} calibration device ID
long: Device ID of the magnetometer this calibration applies to.
category: System
type: int32
default: 0
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_MAG${i}_PRIO:
description:
short: Magnetometer ${i} priority
category: System
type: enum
values:
-1: Uninitialized
0: Disabled
1: Min
25: Low
50: Medium (Default)
75: High
100: Max
default: -1
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_MAG${i}_ROT:
description:
short: Magnetometer ${i} rotation relative to airframe
long: |
An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.
category: System
type: enum
values:
-1: Internal
0: No rotation
1: Yaw 45°
2: Yaw 90°
3: Yaw 135°
4: Yaw 180°
5: Yaw 225°
6: Yaw 270°
7: Yaw 315°
8: Roll 180°
9: Roll 180°, Yaw 45°
10: Roll 180°, Yaw 90°
11: Roll 180°, Yaw 135°
12: Pitch 180°
13: Roll 180°, Yaw 225°
14: Roll 180°, Yaw 270°
15: Roll 180°, Yaw 315°
16: Roll 90°
17: Roll 90°, Yaw 45°
18: Roll 90°, Yaw 90°
19: Roll 90°, Yaw 135°
20: Roll 270°
21: Roll 270°, Yaw 45°
22: Roll 270°, Yaw 90°
23: Roll 270°, Yaw 135°
24: Pitch 90°
25: Pitch 270°
26: Pitch 180°, Yaw 90°
27: Pitch 180°, Yaw 270°
28: Roll 90°, Pitch 90°
29: Roll 180°, Pitch 90°
30: Roll 270°, Pitch 90°
31: Roll 90°, Pitch 180°
32: Roll 270°, Pitch 180°
33: Roll 90°, Pitch 270°
34: Roll 180°, Pitch 270°
35: Roll 270°, Pitch 270°
36: Roll 90°, Pitch 180°, Yaw 90°
37: Roll 90°, Yaw 270°
38: Roll 90°, Pitch 68°, Yaw 293°
39: Pitch 315°
40: Roll 90°, Pitch 315°
min: -1
max: 40
default: -1
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_MAG${i}_XOFF:
description:
short: Magnetometer ${i} X-axis offset
category: System
type: float
default: 0.0
unit: m
volatile: true
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_MAG${i}_YOFF:
description:
short: Magnetometer ${i} Y-axis offset
category: System
type: float
default: 0.0
unit: m
volatile: true
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_MAG${i}_ZOFF:
description:
short: Magnetometer ${i} Z-axis offset
category: System
type: float
default: 0.0
unit: m
volatile: true
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_MAG${i}_XSCALE:
description:
short: Magnetometer ${i} X-axis scaling factor
category: System
type: float
default: 1.0
min: 0.1
max: 3.0
volatile: true
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_MAG${i}_YSCALE:
description:
short: Magnetometer ${i} Y-axis scaling factor
category: System
type: float
default: 1.0
min: 0.1
max: 3.0
volatile: true
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_MAG${i}_ZSCALE:
description:
short: Magnetometer ${i} Z-axis scaling factor
category: System
type: float
default: 1.0
min: 0.1
max: 3.0
volatile: true
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_MAG${i}_XODIAG:
description:
short: Magnetometer ${i} X-axis off diagonal scale factor
category: System
type: float
default: 0.0
volatile: true
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_MAG${i}_YODIAG:
description:
short: Magnetometer ${i} Y-axis off diagonal scale factor
category: System
type: float
default: 0.0
volatile: true
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_MAG${i}_ZODIAG:
description:
short: Magnetometer ${i} Z-axis off diagonal scale factor
category: System
type: float
default: 0.0
volatile: true
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_MAG${i}_XCOMP:
description:
short: Magnetometer ${i} X Axis throttle compensation
long: |
Coefficient describing linear relationship between
X component of magnetometer in body frame axis
and either current or throttle depending on value of CAL_MAG_COMP_TYP.
Unit for throttle-based compensation is [G] and
for current-based compensation [G/kA]
category: System
type: float
default: 0.0
volatile: true
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_MAG${i}_YCOMP:
description:
short: Magnetometer ${i} Y Axis throttle compensation
long: |
Coefficient describing linear relationship between
Y component of magnetometer in body frame axis
and either current or throttle depending on value of CAL_MAG_COMP_TYP.
Unit for throttle-based compensation is [G] and
for current-based compensation [G/kA]
category: System
type: float
default: 0.0
volatile: true
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_MAG${i}_ZCOMP:
description:
short: Magnetometer ${i} Z Axis throttle compensation
long: |
Coefficient describing linear relationship between
Z component of magnetometer in body frame axis
and either current or throttle depending on value of CAL_MAG_COMP_TYP.
Unit for throttle-based compensation is [G] and
for current-based compensation [G/kA]
category: System
type: float
default: 0.0
volatile: true
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_MAG${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/sensor_params_acc0.c
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@@ -1,180 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012-2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* ID of the Accelerometer that the calibration is for.
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_ACC0_ID, 0);
/**
* Accelerometer 0 priority.
*
* @value -1 Uninitialized
* @value 0 Disabled
* @value 1 Min
* @value 25 Low
* @value 50 Medium (Default)
* @value 75 High
* @value 100 Max
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_ACC0_PRIO, -1);
/**
* Rotation of accelerometer 0 relative to airframe.
*
* An internal sensor will force a value of -1, so a GCS
* should only attempt to configure the rotation if the value is
* greater than or equal to zero.
*
* @value -1 Internal
* @value 0 No rotation
* @value 1 Yaw 45°
* @value 2 Yaw 90°
* @value 3 Yaw 135°
* @value 4 Yaw 180°
* @value 5 Yaw 225°
* @value 6 Yaw 270°
* @value 7 Yaw 315°
* @value 8 Roll 180°
* @value 9 Roll 180°, Yaw 45°
* @value 10 Roll 180°, Yaw 90°
* @value 11 Roll 180°, Yaw 135°
* @value 12 Pitch 180°
* @value 13 Roll 180°, Yaw 225°
* @value 14 Roll 180°, Yaw 270°
* @value 15 Roll 180°, Yaw 315°
* @value 16 Roll 90°
* @value 17 Roll 90°, Yaw 45°
* @value 18 Roll 90°, Yaw 90°
* @value 19 Roll 90°, Yaw 135°
* @value 20 Roll 270°
* @value 21 Roll 270°, Yaw 45°
* @value 22 Roll 270°, Yaw 90°
* @value 23 Roll 270°, Yaw 135°
* @value 24 Pitch 90°
* @value 25 Pitch 270°
* @value 26 Pitch 180°, Yaw 90°
* @value 27 Pitch 180°, Yaw 270°
* @value 28 Roll 90°, Pitch 90°
* @value 29 Roll 180°, Pitch 90°
* @value 30 Roll 270°, Pitch 90°
* @value 31 Roll 90°, Pitch 180°
* @value 32 Roll 270°, Pitch 180°
* @value 33 Roll 90°, Pitch 270°
* @value 34 Roll 180°, Pitch 270°
* @value 35 Roll 270°, Pitch 270°
* @value 36 Roll 90°, Pitch 180°, Yaw 90°
* @value 37 Roll 90°, Yaw 270°
* @value 38 Roll 90°, Pitch 68°, Yaw 293°
* @value 39 Pitch 315°
* @value 40 Roll 90°, Pitch 315°
*
* @min -1
* @max 40
* @reboot_required true
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_ACC0_ROT, -1);
/**
* Accelerometer X-axis offset
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC0_XOFF, 0.0f);
/**
* Accelerometer Y-axis offset
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC0_YOFF, 0.0f);
/**
* Accelerometer Z-axis offset
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC0_ZOFF, 0.0f);
/**
* Accelerometer X-axis scaling factor
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC0_XSCALE, 1.0f);
/**
* Accelerometer Y-axis scaling factor
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC0_YSCALE, 1.0f);
/**
* Accelerometer Z-axis scaling factor
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC0_ZSCALE, 1.0f);
/**
* Accelerometer calibration temperature
*
* Temperature during last calibration.
*
* @unit celcius
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC0_TEMP, -1000.f);
src/modules/sensors/sensor_params_acc1.c
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@@ -1,180 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012-2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* ID of the Accelerometer that the calibration is for.
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_ACC1_ID, 0);
/**
* Accelerometer 1 priority.
*
* @value -1 Uninitialized
* @value 0 Disabled
* @value 1 Min
* @value 25 Low
* @value 50 Medium (Default)
* @value 75 High
* @value 100 Max
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_ACC1_PRIO, -1);
/**
* Rotation of accelerometer 1 relative to airframe.
*
* An internal sensor will force a value of -1, so a GCS
* should only attempt to configure the rotation if the value is
* greater than or equal to zero.
*
* @value -1 Internal
* @value 0 No rotation
* @value 1 Yaw 45°
* @value 2 Yaw 90°
* @value 3 Yaw 135°
* @value 4 Yaw 180°
* @value 5 Yaw 225°
* @value 6 Yaw 270°
* @value 7 Yaw 315°
* @value 8 Roll 180°
* @value 9 Roll 180°, Yaw 45°
* @value 10 Roll 180°, Yaw 90°
* @value 11 Roll 180°, Yaw 135°
* @value 12 Pitch 180°
* @value 13 Roll 180°, Yaw 225°
* @value 14 Roll 180°, Yaw 270°
* @value 15 Roll 180°, Yaw 315°
* @value 16 Roll 90°
* @value 17 Roll 90°, Yaw 45°
* @value 18 Roll 90°, Yaw 90°
* @value 19 Roll 90°, Yaw 135°
* @value 20 Roll 270°
* @value 21 Roll 270°, Yaw 45°
* @value 22 Roll 270°, Yaw 90°
* @value 23 Roll 270°, Yaw 135°
* @value 24 Pitch 90°
* @value 25 Pitch 270°
* @value 26 Pitch 180°, Yaw 90°
* @value 27 Pitch 180°, Yaw 270°
* @value 28 Roll 90°, Pitch 90°
* @value 29 Roll 180°, Pitch 90°
* @value 30 Roll 270°, Pitch 90°
* @value 31 Roll 90°, Pitch 180°
* @value 32 Roll 270°, Pitch 180°
* @value 33 Roll 90°, Pitch 270°
* @value 34 Roll 180°, Pitch 270°
* @value 35 Roll 270°, Pitch 270°
* @value 36 Roll 90°, Pitch 180°, Yaw 90°
* @value 37 Roll 90°, Yaw 270°
* @value 38 Roll 90°, Pitch 68°, Yaw 293°
* @value 39 Pitch 315°
* @value 40 Roll 90°, Pitch 315°
*
* @min -1
* @max 40
* @reboot_required true
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_ACC1_ROT, -1);
/**
* Accelerometer X-axis offset
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC1_XOFF, 0.0f);
/**
* Accelerometer Y-axis offset
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC1_YOFF, 0.0f);
/**
* Accelerometer Z-axis offset
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC1_ZOFF, 0.0f);
/**
* Accelerometer X-axis scaling factor
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC1_XSCALE, 1.0f);
/**
* Accelerometer Y-axis scaling factor
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC1_YSCALE, 1.0f);
/**
* Accelerometer Z-axis scaling factor
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC1_ZSCALE, 1.0f);
/**
* Accelerometer calibration temperature
*
* Temperature during last calibration.
*
* @unit celcius
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC1_TEMP, -1000.f);
src/modules/sensors/sensor_params_acc2.c
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@@ -1,180 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012-2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* ID of the Accelerometer that the calibration is for.
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_ACC2_ID, 0);
/**
* Accelerometer 2 priority.
*
* @value -1 Uninitialized
* @value 0 Disabled
* @value 1 Min
* @value 25 Low
* @value 50 Medium (Default)
* @value 75 High
* @value 100 Max
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_ACC2_PRIO, -1);
/**
* Rotation of accelerometer 2 relative to airframe.
*
* An internal sensor will force a value of -1, so a GCS
* should only attempt to configure the rotation if the value is
* greater than or equal to zero.
*
* @value -1 Internal
* @value 0 No rotation
* @value 1 Yaw 45°
* @value 2 Yaw 90°
* @value 3 Yaw 135°
* @value 4 Yaw 180°
* @value 5 Yaw 225°
* @value 6 Yaw 270°
* @value 7 Yaw 315°
* @value 8 Roll 180°
* @value 9 Roll 180°, Yaw 45°
* @value 10 Roll 180°, Yaw 90°
* @value 11 Roll 180°, Yaw 135°
* @value 12 Pitch 180°
* @value 13 Roll 180°, Yaw 225°
* @value 14 Roll 180°, Yaw 270°
* @value 15 Roll 180°, Yaw 315°
* @value 16 Roll 90°
* @value 17 Roll 90°, Yaw 45°
* @value 18 Roll 90°, Yaw 90°
* @value 19 Roll 90°, Yaw 135°
* @value 20 Roll 270°
* @value 21 Roll 270°, Yaw 45°
* @value 22 Roll 270°, Yaw 90°
* @value 23 Roll 270°, Yaw 135°
* @value 24 Pitch 90°
* @value 25 Pitch 270°
* @value 26 Pitch 180°, Yaw 90°
* @value 27 Pitch 180°, Yaw 270°
* @value 28 Roll 90°, Pitch 90°
* @value 29 Roll 180°, Pitch 90°
* @value 30 Roll 270°, Pitch 90°
* @value 31 Roll 90°, Pitch 180°
* @value 32 Roll 270°, Pitch 180°
* @value 33 Roll 90°, Pitch 270°
* @value 34 Roll 180°, Pitch 270°
* @value 35 Roll 270°, Pitch 270°
* @value 36 Roll 90°, Pitch 180°, Yaw 90°
* @value 37 Roll 90°, Yaw 270°
* @value 38 Roll 90°, Pitch 68°, Yaw 293°
* @value 39 Pitch 315°
* @value 40 Roll 90°, Pitch 315°
*
* @min -1
* @max 40
* @reboot_required true
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_ACC2_ROT, -1);
/**
* Accelerometer X-axis offset
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC2_XOFF, 0.0f);
/**
* Accelerometer Y-axis offset
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC2_YOFF, 0.0f);
/**
* Accelerometer Z-axis offset
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC2_ZOFF, 0.0f);
/**
* Accelerometer X-axis scaling factor
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC2_XSCALE, 1.0f);
/**
* Accelerometer Y-axis scaling factor
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC2_YSCALE, 1.0f);
/**
* Accelerometer Z-axis scaling factor
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC2_ZSCALE, 1.0f);
/**
* Accelerometer calibration temperature
*
* Temperature during last calibration.
*
* @unit celcius
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC2_TEMP, -1000.f);
src/modules/sensors/sensor_params_acc3.c
-180
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@@ -1,180 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012-2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* ID of the Accelerometer that the calibration is for.
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_ACC3_ID, 0);
/**
* Accelerometer 3 priority.
*
* @value -1 Uninitialized
* @value 0 Disabled
* @value 1 Min
* @value 25 Low
* @value 50 Medium (Default)
* @value 75 High
* @value 100 Max
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_ACC3_PRIO, -1);
/**
* Rotation of accelerometer 3 relative to airframe.
*
* An internal sensor will force a value of -1, so a GCS
* should only attempt to configure the rotation if the value is
* greater than or equal to zero.
*
* @value -1 Internal
* @value 0 No rotation
* @value 1 Yaw 45°
* @value 2 Yaw 90°
* @value 3 Yaw 135°
* @value 4 Yaw 180°
* @value 5 Yaw 225°
* @value 6 Yaw 270°
* @value 7 Yaw 315°
* @value 8 Roll 180°
* @value 9 Roll 180°, Yaw 45°
* @value 10 Roll 180°, Yaw 90°
* @value 11 Roll 180°, Yaw 135°
* @value 12 Pitch 180°
* @value 13 Roll 180°, Yaw 225°
* @value 14 Roll 180°, Yaw 270°
* @value 15 Roll 180°, Yaw 315°
* @value 16 Roll 90°
* @value 17 Roll 90°, Yaw 45°
* @value 18 Roll 90°, Yaw 90°
* @value 19 Roll 90°, Yaw 135°
* @value 20 Roll 270°
* @value 21 Roll 270°, Yaw 45°
* @value 22 Roll 270°, Yaw 90°
* @value 23 Roll 270°, Yaw 135°
* @value 24 Pitch 90°
* @value 25 Pitch 270°
* @value 26 Pitch 180°, Yaw 90°
* @value 27 Pitch 180°, Yaw 270°
* @value 28 Roll 90°, Pitch 90°
* @value 29 Roll 180°, Pitch 90°
* @value 30 Roll 270°, Pitch 90°
* @value 31 Roll 90°, Pitch 180°
* @value 32 Roll 270°, Pitch 180°
* @value 33 Roll 90°, Pitch 270°
* @value 34 Roll 180°, Pitch 270°
* @value 35 Roll 270°, Pitch 270°
* @value 36 Roll 90°, Pitch 180°, Yaw 90°
* @value 37 Roll 90°, Yaw 270°
* @value 38 Roll 90°, Pitch 68°, Yaw 293°
* @value 39 Pitch 315°
* @value 40 Roll 90°, Pitch 315°
*
* @min -1
* @max 40
* @reboot_required true
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_ACC3_ROT, -1);
/**
* Accelerometer X-axis offset
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC3_XOFF, 0.0f);
/**
* Accelerometer Y-axis offset
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC3_YOFF, 0.0f);
/**
* Accelerometer Z-axis offset
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC3_ZOFF, 0.0f);
/**
* Accelerometer X-axis scaling factor
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC3_XSCALE, 1.0f);
/**
* Accelerometer Y-axis scaling factor
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC3_YSCALE, 1.0f);
/**
* Accelerometer Z-axis scaling factor
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC3_ZSCALE, 1.0f);
/**
* Accelerometer calibration temperature
*
* Temperature during last calibration.
*
* @unit celcius
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC3_TEMP, -1000.f);
src/modules/sensors/sensor_params_gyro0.c
-153
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@@ -1,153 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012-2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* ID of the Gyro that the calibration is for.
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_GYRO0_ID, 0);
/**
* Gyro 0 priority.
*
* @value -1 Uninitialized
* @value 0 Disabled
* @value 1 Min
* @value 25 Low
* @value 50 Medium (Default)
* @value 75 High
* @value 100 Max
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_GYRO0_PRIO, -1);
/**
* Rotation of gyro 0 relative to airframe.
*
* An internal sensor will force a value of -1, so a GCS
* should only attempt to configure the rotation if the value is
* greater than or equal to zero.
*
* @value -1 Internal
* @value 0 No rotation
* @value 1 Yaw 45°
* @value 2 Yaw 90°
* @value 3 Yaw 135°
* @value 4 Yaw 180°
* @value 5 Yaw 225°
* @value 6 Yaw 270°
* @value 7 Yaw 315°
* @value 8 Roll 180°
* @value 9 Roll 180°, Yaw 45°
* @value 10 Roll 180°, Yaw 90°
* @value 11 Roll 180°, Yaw 135°
* @value 12 Pitch 180°
* @value 13 Roll 180°, Yaw 225°
* @value 14 Roll 180°, Yaw 270°
* @value 15 Roll 180°, Yaw 315°
* @value 16 Roll 90°
* @value 17 Roll 90°, Yaw 45°
* @value 18 Roll 90°, Yaw 90°
* @value 19 Roll 90°, Yaw 135°
* @value 20 Roll 270°
* @value 21 Roll 270°, Yaw 45°
* @value 22 Roll 270°, Yaw 90°
* @value 23 Roll 270°, Yaw 135°
* @value 24 Pitch 90°
* @value 25 Pitch 270°
* @value 26 Pitch 180°, Yaw 90°
* @value 27 Pitch 180°, Yaw 270°
* @value 28 Roll 90°, Pitch 90°
* @value 29 Roll 180°, Pitch 90°
* @value 30 Roll 270°, Pitch 90°
* @value 31 Roll 90°, Pitch 180°
* @value 32 Roll 270°, Pitch 180°
* @value 33 Roll 90°, Pitch 270°
* @value 34 Roll 180°, Pitch 270°
* @value 35 Roll 270°, Pitch 270°
* @value 36 Roll 90°, Pitch 180°, Yaw 90°
* @value 37 Roll 90°, Yaw 270°
* @value 38 Roll 90°, Pitch 68°, Yaw 293°
* @value 39 Pitch 315°
* @value 40 Roll 90°, Pitch 315°
*
* @min -1
* @max 40
* @reboot_required true
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_GYRO0_ROT, -1);
/**
* Gyro X-axis offset
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_GYRO0_XOFF, 0.0f);
/**
* Gyro Y-axis offset
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_GYRO0_YOFF, 0.0f);
/**
* Gyro Z-axis offset
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_GYRO0_ZOFF, 0.0f);
/**
* Gyroscope calibration temperature
*
* Temperature during last calibration.
*
* @unit celcius
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_GYRO0_TEMP, -1000.f);
src/modules/sensors/sensor_params_gyro1.c
-153
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@@ -1,153 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012-2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* ID of the Gyro that the calibration is for.
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_GYRO1_ID, 0);
/**
* Gyro 1 priority.
*
* @value -1 Uninitialized
* @value 0 Disabled
* @value 1 Min
* @value 25 Low
* @value 50 Medium (Default)
* @value 75 High
* @value 100 Max
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_GYRO1_PRIO, -1);
/**
* Rotation of gyro 1 relative to airframe.
*
* An internal sensor will force a value of -1, so a GCS
* should only attempt to configure the rotation if the value is
* greater than or equal to zero.
*
* @value -1 Internal
* @value 0 No rotation
* @value 1 Yaw 45°
* @value 2 Yaw 90°
* @value 3 Yaw 135°
* @value 4 Yaw 180°
* @value 5 Yaw 225°
* @value 6 Yaw 270°
* @value 7 Yaw 315°
* @value 8 Roll 180°
* @value 9 Roll 180°, Yaw 45°
* @value 10 Roll 180°, Yaw 90°
* @value 11 Roll 180°, Yaw 135°
* @value 12 Pitch 180°
* @value 13 Roll 180°, Yaw 225°
* @value 14 Roll 180°, Yaw 270°
* @value 15 Roll 180°, Yaw 315°
* @value 16 Roll 90°
* @value 17 Roll 90°, Yaw 45°
* @value 18 Roll 90°, Yaw 90°
* @value 19 Roll 90°, Yaw 135°
* @value 20 Roll 270°
* @value 21 Roll 270°, Yaw 45°
* @value 22 Roll 270°, Yaw 90°
* @value 23 Roll 270°, Yaw 135°
* @value 24 Pitch 90°
* @value 25 Pitch 270°
* @value 26 Pitch 180°, Yaw 90°
* @value 27 Pitch 180°, Yaw 270°
* @value 28 Roll 90°, Pitch 90°
* @value 29 Roll 180°, Pitch 90°
* @value 30 Roll 270°, Pitch 90°
* @value 31 Roll 90°, Pitch 180°
* @value 32 Roll 270°, Pitch 180°
* @value 33 Roll 90°, Pitch 270°
* @value 34 Roll 180°, Pitch 270°
* @value 35 Roll 270°, Pitch 270°
* @value 36 Roll 90°, Pitch 180°, Yaw 90°
* @value 37 Roll 90°, Yaw 270°
* @value 38 Roll 90°, Pitch 68°, Yaw 293°
* @value 39 Pitch 315°
* @value 40 Roll 90°, Pitch 315°
*
* @min -1
* @max 40
* @reboot_required true
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_GYRO1_ROT, -1);
/**
* Gyro X-axis offset
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_GYRO1_XOFF, 0.0f);
/**
* Gyro Y-axis offset
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_GYRO1_YOFF, 0.0f);
/**
* Gyro Z-axis offset
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_GYRO1_ZOFF, 0.0f);
/**
* Gyroscope calibration temperature
*
* Temperature during last calibration.
*
* @unit celcius
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_GYRO1_TEMP, -1000.f);
src/modules/sensors/sensor_params_gyro2.c
-153
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@@ -1,153 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012-2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* ID of the Gyro that the calibration is for.
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_GYRO2_ID, 0);
/**
* Gyro 2 priority.
*
* @value -1 Uninitialized
* @value 0 Disabled
* @value 1 Min
* @value 25 Low
* @value 50 Medium (Default)
* @value 75 High
* @value 100 Max
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_GYRO2_PRIO, -1);
/**
* Rotation of gyro 2 relative to airframe.
*
* An internal sensor will force a value of -1, so a GCS
* should only attempt to configure the rotation if the value is
* greater than or equal to zero.
*
* @value -1 Internal
* @value 0 No rotation
* @value 1 Yaw 45°
* @value 2 Yaw 90°
* @value 3 Yaw 135°
* @value 4 Yaw 180°
* @value 5 Yaw 225°
* @value 6 Yaw 270°
* @value 7 Yaw 315°
* @value 8 Roll 180°
* @value 9 Roll 180°, Yaw 45°
* @value 10 Roll 180°, Yaw 90°
* @value 11 Roll 180°, Yaw 135°
* @value 12 Pitch 180°
* @value 13 Roll 180°, Yaw 225°
* @value 14 Roll 180°, Yaw 270°
* @value 15 Roll 180°, Yaw 315°
* @value 16 Roll 90°
* @value 17 Roll 90°, Yaw 45°
* @value 18 Roll 90°, Yaw 90°
* @value 19 Roll 90°, Yaw 135°
* @value 20 Roll 270°
* @value 21 Roll 270°, Yaw 45°
* @value 22 Roll 270°, Yaw 90°
* @value 23 Roll 270°, Yaw 135°
* @value 24 Pitch 90°
* @value 25 Pitch 270°
* @value 26 Pitch 180°, Yaw 90°
* @value 27 Pitch 180°, Yaw 270°
* @value 28 Roll 90°, Pitch 90°
* @value 29 Roll 180°, Pitch 90°
* @value 30 Roll 270°, Pitch 90°
* @value 31 Roll 90°, Pitch 180°
* @value 32 Roll 270°, Pitch 180°
* @value 33 Roll 90°, Pitch 270°
* @value 34 Roll 180°, Pitch 270°
* @value 35 Roll 270°, Pitch 270°
* @value 36 Roll 90°, Pitch 180°, Yaw 90°
* @value 37 Roll 90°, Yaw 270°
* @value 38 Roll 90°, Pitch 68°, Yaw 293°
* @value 39 Pitch 315°
* @value 40 Roll 90°, Pitch 315°
*
* @min -1
* @max 40
* @reboot_required true
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_GYRO2_ROT, -1);
/**
* Gyro X-axis offset
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_GYRO2_XOFF, 0.0f);
/**
* Gyro Y-axis offset
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_GYRO2_YOFF, 0.0f);
/**
* Gyro Z-axis offset
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_GYRO2_ZOFF, 0.0f);
/**
* Gyroscope calibration temperature
*
* Temperature during last calibration.
*
* @unit celcius
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_GYRO2_TEMP, -1000.f);
src/modules/sensors/sensor_params_gyro3.c
-153
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@@ -1,153 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012-2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* ID of the Gyro that the calibration is for.
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_GYRO3_ID, 0);
/**
* Gyro 3 priority.
*
* @value -1 Uninitialized
* @value 0 Disabled
* @value 1 Min
* @value 25 Low
* @value 50 Medium (Default)
* @value 75 High
* @value 100 Max
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_GYRO3_PRIO, -1);
/**
* Rotation of gyro 3 relative to airframe.
*
* An internal sensor will force a value of -1, so a GCS
* should only attempt to configure the rotation if the value is
* greater than or equal to zero.
*
* @value -1 Internal
* @value 0 No rotation
* @value 1 Yaw 45°
* @value 2 Yaw 90°
* @value 3 Yaw 135°
* @value 4 Yaw 180°
* @value 5 Yaw 225°
* @value 6 Yaw 270°
* @value 7 Yaw 315°
* @value 8 Roll 180°
* @value 9 Roll 180°, Yaw 45°
* @value 10 Roll 180°, Yaw 90°
* @value 11 Roll 180°, Yaw 135°
* @value 12 Pitch 180°
* @value 13 Roll 180°, Yaw 225°
* @value 14 Roll 180°, Yaw 270°
* @value 15 Roll 180°, Yaw 315°
* @value 16 Roll 90°
* @value 17 Roll 90°, Yaw 45°
* @value 18 Roll 90°, Yaw 90°
* @value 19 Roll 90°, Yaw 135°
* @value 20 Roll 270°
* @value 21 Roll 270°, Yaw 45°
* @value 22 Roll 270°, Yaw 90°
* @value 23 Roll 270°, Yaw 135°
* @value 24 Pitch 90°
* @value 25 Pitch 270°
* @value 26 Pitch 180°, Yaw 90°
* @value 27 Pitch 180°, Yaw 270°
* @value 28 Roll 90°, Pitch 90°
* @value 29 Roll 180°, Pitch 90°
* @value 30 Roll 270°, Pitch 90°
* @value 31 Roll 90°, Pitch 180°
* @value 32 Roll 270°, Pitch 180°
* @value 33 Roll 90°, Pitch 270°
* @value 34 Roll 180°, Pitch 270°
* @value 35 Roll 270°, Pitch 270°
* @value 36 Roll 90°, Pitch 180°, Yaw 90°
* @value 37 Roll 90°, Yaw 270°
* @value 38 Roll 90°, Pitch 68°, Yaw 293°
* @value 39 Pitch 315°
* @value 40 Roll 90°, Pitch 315°
*
* @min -1
* @max 40
* @reboot_required true
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_GYRO3_ROT, -1);
/**
* Gyro X-axis offset
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_GYRO3_XOFF, 0.0f);
/**
* Gyro Y-axis offset
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_GYRO3_YOFF, 0.0f);
/**
* Gyro Z-axis offset
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_GYRO3_ZOFF, 0.0f);
/**
* Gyroscope calibration temperature
*
* Temperature during last calibration.
*
* @unit celcius
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_GYRO3_TEMP, -1000.f);
src/modules/sensors/sensor_params_mag0.c
-249
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@@ -1,249 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012-2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* ID of Magnetometer the calibration is for.
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_MAG0_ID, 0);
/**
* Mag 0 priority.
*
* @value -1 Uninitialized
* @value 0 Disabled
* @value 1 Min
* @value 25 Low
* @value 50 Medium (Default)
* @value 75 High
* @value 100 Max
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_MAG0_PRIO, -1);
/**
* Rotation of magnetometer 0 relative to airframe.
*
* An internal sensor will force a value of -1, so a GCS
* should only attempt to configure the rotation if the value is
* greater than or equal to zero.
*
* @value -1 Internal
* @value 0 No rotation
* @value 1 Yaw 45°
* @value 2 Yaw 90°
* @value 3 Yaw 135°
* @value 4 Yaw 180°
* @value 5 Yaw 225°
* @value 6 Yaw 270°
* @value 7 Yaw 315°
* @value 8 Roll 180°
* @value 9 Roll 180°, Yaw 45°
* @value 10 Roll 180°, Yaw 90°
* @value 11 Roll 180°, Yaw 135°
* @value 12 Pitch 180°
* @value 13 Roll 180°, Yaw 225°
* @value 14 Roll 180°, Yaw 270°
* @value 15 Roll 180°, Yaw 315°
* @value 16 Roll 90°
* @value 17 Roll 90°, Yaw 45°
* @value 18 Roll 90°, Yaw 90°
* @value 19 Roll 90°, Yaw 135°
* @value 20 Roll 270°
* @value 21 Roll 270°, Yaw 45°
* @value 22 Roll 270°, Yaw 90°
* @value 23 Roll 270°, Yaw 135°
* @value 24 Pitch 90°
* @value 25 Pitch 270°
* @value 26 Pitch 180°, Yaw 90°
* @value 27 Pitch 180°, Yaw 270°
* @value 28 Roll 90°, Pitch 90°
* @value 29 Roll 180°, Pitch 90°
* @value 30 Roll 270°, Pitch 90°
* @value 31 Roll 90°, Pitch 180°
* @value 32 Roll 270°, Pitch 180°
* @value 33 Roll 90°, Pitch 270°
* @value 34 Roll 180°, Pitch 270°
* @value 35 Roll 270°, Pitch 270°
* @value 36 Roll 90°, Pitch 180°, Yaw 90°
* @value 37 Roll 90°, Yaw 270°
* @value 38 Roll 90°, Pitch 68°, Yaw 293°
* @value 39 Pitch 315°
* @value 40 Roll 90°, Pitch 315°
*
* @min -1
* @max 40
* @reboot_required true
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_MAG0_ROT, -1);
/**
* Magnetometer X-axis offset
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG0_XOFF, 0.0f);
/**
* Magnetometer Y-axis offset
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG0_YOFF, 0.0f);
/**
* Magnetometer Z-axis offset
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG0_ZOFF, 0.0f);
/**
* Magnetometer X-axis scaling factor
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG0_XSCALE, 1.0f);
/**
* Magnetometer Y-axis scaling factor
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG0_YSCALE, 1.0f);
/**
* Magnetometer Z-axis scaling factor
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG0_ZSCALE, 1.0f);
/**
* Magnetometer X-axis off diagonal factor
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG0_XODIAG, 0.0f);
/**
* Magnetometer Y-axis off diagonal factor
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG0_YODIAG, 0.0f);
/**
* Magnetometer Z-axis off diagonal factor
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG0_ZODIAG, 0.0f);
/**
* X Axis throttle compensation for Mag 0
*
* Coefficient describing linear relationship between
* X component of magnetometer in body frame axis
* and either current or throttle depending on value of CAL_MAG_COMP_TYP.
* Unit for throttle-based compensation is [G] and
* for current-based compensation [G/kA]
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG0_XCOMP, 0.0f);
/**
* Y Axis throttle compensation for Mag 0
*
* Coefficient describing linear relationship between
* Y component of magnetometer in body frame axis
* and either current or throttle depending on value of CAL_MAG_COMP_TYP.
* Unit for throttle-based compensation is [G] and
* for current-based compensation [G/kA]
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG0_YCOMP, 0.0f);
/**
* Z Axis throttle compensation for Mag 0
*
* Coefficient describing linear relationship between
* Z component of magnetometer in body frame axis
* and either current or throttle depending on value of CAL_MAG_COMP_TYP.
* Unit for throttle-based compensation is [G] and
* for current-based compensation [G/kA]
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG0_ZCOMP, 0.0f);
/**
* Magnetometer calibration temperature
*
* Temperature during last calibration.
*
* @unit celcius
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG0_TEMP, -1000.f);
src/modules/sensors/sensor_params_mag1.c
-249
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@@ -1,249 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012-2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* ID of Magnetometer the calibration is for.
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_MAG1_ID, 0);
/**
* Mag 1 priority.
*
* @value -1 Uninitialized
* @value 0 Disabled
* @value 1 Min
* @value 25 Low
* @value 50 Medium (Default)
* @value 75 High
* @value 100 Max
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_MAG1_PRIO, -1);
/**
* Rotation of magnetometer 1 relative to airframe.
*
* An internal sensor will force a value of -1, so a GCS
* should only attempt to configure the rotation if the value is
* greater than or equal to zero.
*
* @value -1 Internal
* @value 0 No rotation
* @value 1 Yaw 45°
* @value 2 Yaw 90°
* @value 3 Yaw 135°
* @value 4 Yaw 180°
* @value 5 Yaw 225°
* @value 6 Yaw 270°
* @value 7 Yaw 315°
* @value 8 Roll 180°
* @value 9 Roll 180°, Yaw 45°
* @value 10 Roll 180°, Yaw 90°
* @value 11 Roll 180°, Yaw 135°
* @value 12 Pitch 180°
* @value 13 Roll 180°, Yaw 225°
* @value 14 Roll 180°, Yaw 270°
* @value 15 Roll 180°, Yaw 315°
* @value 16 Roll 90°
* @value 17 Roll 90°, Yaw 45°
* @value 18 Roll 90°, Yaw 90°
* @value 19 Roll 90°, Yaw 135°
* @value 20 Roll 270°
* @value 21 Roll 270°, Yaw 45°
* @value 22 Roll 270°, Yaw 90°
* @value 23 Roll 270°, Yaw 135°
* @value 24 Pitch 90°
* @value 25 Pitch 270°
* @value 26 Pitch 180°, Yaw 90°
* @value 27 Pitch 180°, Yaw 270°
* @value 28 Roll 90°, Pitch 90°
* @value 29 Roll 180°, Pitch 90°
* @value 30 Roll 270°, Pitch 90°
* @value 31 Roll 90°, Pitch 180°
* @value 32 Roll 270°, Pitch 180°
* @value 33 Roll 90°, Pitch 270°
* @value 34 Roll 180°, Pitch 270°
* @value 35 Roll 270°, Pitch 270°
* @value 36 Roll 90°, Pitch 180°, Yaw 90°
* @value 37 Roll 90°, Yaw 270°
* @value 38 Roll 90°, Pitch 68°, Yaw 293°
* @value 39 Pitch 315°
* @value 40 Roll 90°, Pitch 315°
*
* @min -1
* @max 40
* @reboot_required true
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_MAG1_ROT, -1);
/**
* Magnetometer X-axis offset
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG1_XOFF, 0.0f);
/**
* Magnetometer Y-axis offset
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG1_YOFF, 0.0f);
/**
* Magnetometer Z-axis offset
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG1_ZOFF, 0.0f);
/**
* Magnetometer X-axis scaling factor
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG1_XSCALE, 1.0f);
/**
* Magnetometer Y-axis scaling factor
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG1_YSCALE, 1.0f);
/**
* Magnetometer Z-axis scaling factor
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG1_ZSCALE, 1.0f);
/**
* Magnetometer X-axis off diagonal factor
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG1_XODIAG, 0.0f);
/**
* Magnetometer Y-axis off diagonal factor
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG1_YODIAG, 0.0f);
/**
* Magnetometer Z-axis off diagonal factor
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG1_ZODIAG, 0.0f);
/**
* X Axis throttle compensation for Mag 1
*
* Coefficient describing linear relationship between
* X component of magnetometer in body frame axis
* and either current or throttle depending on value of CAL_MAG_COMP_TYP.
* Unit for throttle-based compensation is [G] and
* for current-based compensation [G/kA]
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG1_XCOMP, 0.0f);
/**
* Y Axis throttle compensation for Mag 1
*
* Coefficient describing linear relationship between
* Y component of magnetometer in body frame axis
* and either current or throttle depending on value of CAL_MAG_COMP_TYP.
* Unit for throttle-based compensation is [G] and
* for current-based compensation [G/kA]
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG1_YCOMP, 0.0f);
/**
* Z Axis throttle compensation for Mag 1
*
* Coefficient describing linear relationship between
* Z component of magnetometer in body frame axis
* and either current or throttle depending on value of CAL_MAG_COMP_TYP.
* Unit for throttle-based compensation is [G] and
* for current-based compensation [G/kA]
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG1_ZCOMP, 0.0f);
/**
* Magnetometer calibration temperature
*
* Temperature during last calibration.
*
* @unit celcius
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG1_TEMP, -1000.f);
src/modules/sensors/sensor_params_mag2.c
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@@ -1,249 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012-2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* ID of Magnetometer the calibration is for.
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_MAG2_ID, 0);
/**
* Mag 2 priority.
*
* @value -1 Uninitialized
* @value 0 Disabled
* @value 1 Min
* @value 25 Low
* @value 50 Medium (Default)
* @value 75 High
* @value 100 Max
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_MAG2_PRIO, -1);
/**
* Rotation of magnetometer 2 relative to airframe.
*
* An internal sensor will force a value of -1, so a GCS
* should only attempt to configure the rotation if the value is
* greater than or equal to zero.
*
* @value -1 Internal
* @value 0 No rotation
* @value 1 Yaw 45°
* @value 2 Yaw 90°
* @value 3 Yaw 135°
* @value 4 Yaw 180°
* @value 5 Yaw 225°
* @value 6 Yaw 270°
* @value 7 Yaw 315°
* @value 8 Roll 180°
* @value 9 Roll 180°, Yaw 45°
* @value 10 Roll 180°, Yaw 90°
* @value 11 Roll 180°, Yaw 135°
* @value 12 Pitch 180°
* @value 13 Roll 180°, Yaw 225°
* @value 14 Roll 180°, Yaw 270°
* @value 15 Roll 180°, Yaw 315°
* @value 16 Roll 90°
* @value 17 Roll 90°, Yaw 45°
* @value 18 Roll 90°, Yaw 90°
* @value 19 Roll 90°, Yaw 135°
* @value 20 Roll 270°
* @value 21 Roll 270°, Yaw 45°
* @value 22 Roll 270°, Yaw 90°
* @value 23 Roll 270°, Yaw 135°
* @value 24 Pitch 90°
* @value 25 Pitch 270°
* @value 26 Pitch 180°, Yaw 90°
* @value 27 Pitch 180°, Yaw 270°
* @value 28 Roll 90°, Pitch 90°
* @value 29 Roll 180°, Pitch 90°
* @value 30 Roll 270°, Pitch 90°
* @value 31 Roll 90°, Pitch 180°
* @value 32 Roll 270°, Pitch 180°
* @value 33 Roll 90°, Pitch 270°
* @value 34 Roll 180°, Pitch 270°
* @value 35 Roll 270°, Pitch 270°
* @value 36 Roll 90°, Pitch 180°, Yaw 90°
* @value 37 Roll 90°, Yaw 270°
* @value 38 Roll 90°, Pitch 68°, Yaw 293°
* @value 39 Pitch 315°
* @value 40 Roll 90°, Pitch 315°
*
* @min -1
* @max 40
* @reboot_required true
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_MAG2_ROT, -1);
/**
* Magnetometer X-axis offset
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG2_XOFF, 0.0f);
/**
* Magnetometer Y-axis offset
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG2_YOFF, 0.0f);
/**
* Magnetometer Z-axis offset
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG2_ZOFF, 0.0f);
/**
* Magnetometer X-axis scaling factor
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG2_XSCALE, 1.0f);
/**
* Magnetometer Y-axis scaling factor
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG2_YSCALE, 1.0f);
/**
* Magnetometer Z-axis scaling factor
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG2_ZSCALE, 1.0f);
/**
* Magnetometer X-axis off diagonal factor
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG2_XODIAG, 0.0f);
/**
* Magnetometer Y-axis off diagonal factor
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG2_YODIAG, 0.0f);
/**
* Magnetometer Z-axis off diagonal factor
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG2_ZODIAG, 0.0f);
/**
* X Axis throttle compensation for Mag 2
*
* Coefficient describing linear relationship between
* X component of magnetometer in body frame axis
* and either current or throttle depending on value of CAL_MAG_COMP_TYP.
* Unit for throttle-based compensation is [G] and
* for current-based compensation [G/kA]
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG2_XCOMP, 0.0f);
/**
* Y Axis throttle compensation for Mag 2
*
* Coefficient describing linear relationship between
* Y component of magnetometer in body frame axis
* and either current or throttle depending on value of CAL_MAG_COMP_TYP.
* Unit for throttle-based compensation is [G] and
* for current-based compensation [G/kA]
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG2_YCOMP, 0.0f);
/**
* Z Axis throttle compensation for Mag 2
*
* Coefficient describing linear relationship between
* Z component of magnetometer in body frame axis
* and either current or throttle depending on value of CAL_MAG_COMP_TYP.
* Unit for throttle-based compensation is [G] and
* for current-based compensation [G/kA]
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG2_ZCOMP, 0.0f);
/**
* Magnetometer calibration temperature
*
* Temperature during last calibration.
*
* @unit celcius
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG2_TEMP, -1000.f);
src/modules/sensors/sensor_params_mag3.c
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@@ -1,249 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012-2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* ID of Magnetometer the calibration is for.
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_MAG3_ID, 0);
/**
* Mag 3 priority.
*
* @value -1 Uninitialized
* @value 0 Disabled
* @value 1 Min
* @value 25 Low
* @value 50 Medium (Default)
* @value 75 High
* @value 100 Max
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_MAG3_PRIO, -1);
/**
* Rotation of magnetometer 3 relative to airframe.
*
* An internal sensor will force a value of -1, so a GCS
* should only attempt to configure the rotation if the value is
* greater than or equal to zero.
*
* @value -1 Internal
* @value 0 No rotation
* @value 1 Yaw 45°
* @value 2 Yaw 90°
* @value 3 Yaw 135°
* @value 4 Yaw 180°
* @value 5 Yaw 225°
* @value 6 Yaw 270°
* @value 7 Yaw 315°
* @value 8 Roll 180°
* @value 9 Roll 180°, Yaw 45°
* @value 10 Roll 180°, Yaw 90°
* @value 11 Roll 180°, Yaw 135°
* @value 12 Pitch 180°
* @value 13 Roll 180°, Yaw 225°
* @value 14 Roll 180°, Yaw 270°
* @value 15 Roll 180°, Yaw 315°
* @value 16 Roll 90°
* @value 17 Roll 90°, Yaw 45°
* @value 18 Roll 90°, Yaw 90°
* @value 19 Roll 90°, Yaw 135°
* @value 20 Roll 270°
* @value 21 Roll 270°, Yaw 45°
* @value 22 Roll 270°, Yaw 90°
* @value 23 Roll 270°, Yaw 135°
* @value 24 Pitch 90°
* @value 25 Pitch 270°
* @value 26 Pitch 180°, Yaw 90°
* @value 27 Pitch 180°, Yaw 270°
* @value 28 Roll 90°, Pitch 90°
* @value 29 Roll 180°, Pitch 90°
* @value 30 Roll 270°, Pitch 90°
* @value 31 Roll 90°, Pitch 180°
* @value 32 Roll 270°, Pitch 180°
* @value 33 Roll 90°, Pitch 270°
* @value 34 Roll 180°, Pitch 270°
* @value 35 Roll 270°, Pitch 270°
* @value 36 Roll 90°, Pitch 180°, Yaw 90°
* @value 37 Roll 90°, Yaw 270°
* @value 38 Roll 90°, Pitch 68°, Yaw 293°
* @value 39 Pitch 315°
* @value 40 Roll 90°, Pitch 315°
*
* @min -1
* @max 40
* @reboot_required true
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_MAG3_ROT, -1);
/**
* Magnetometer X-axis offset
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG3_XOFF, 0.0f);
/**
* Magnetometer Y-axis offset
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG3_YOFF, 0.0f);
/**
* Magnetometer Z-axis offset
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG3_ZOFF, 0.0f);
/**
* Magnetometer X-axis scaling factor
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG3_XSCALE, 1.0f);
/**
* Magnetometer Y-axis scaling factor
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG3_YSCALE, 1.0f);
/**
* Magnetometer Z-axis scaling factor
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG3_ZSCALE, 1.0f);
/**
* Magnetometer X-axis off diagonal factor
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG3_XODIAG, 0.0f);
/**
* Magnetometer Y-axis off diagonal factor
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG3_YODIAG, 0.0f);
/**
* Magnetometer Z-axis off diagonal factor
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG3_ZODIAG, 0.0f);
/**
* X Axis throttle compensation for Mag 3
*
* Coefficient describing linear relationship between
* X component of magnetometer in body frame axis
* and either current or throttle depending on value of CAL_MAG_COMP_TYP.
* Unit for throttle-based compensation is [G] and
* for current-based compensation [G/kA]
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG3_XCOMP, 0.0f);
/**
* Y Axis throttle compensation for Mag 3
*
* Coefficient describing linear relationship between
* Y component of magnetometer in body frame axis
* and either current or throttle depending on value of CAL_MAG_COMP_TYP.
* Unit for throttle-based compensation is [G] and
* for current-based compensation [G/kA]
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG3_YCOMP, 0.0f);
/**
* Z Axis throttle compensation for Mag 3
*
* Coefficient describing linear relationship between
* Z component of magnetometer in body frame axis
* and either current or throttle depending on value of CAL_MAG_COMP_TYP.
* Unit for throttle-based compensation is [G] and
* for current-based compensation [G/kA]
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG3_ZCOMP, 0.0f);
/**
* Magnetometer calibration temperature
*
* Temperature during last calibration.
*
* @unit celcius
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG3_TEMP, -1000.f);