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move sensor calibration parameters to yaml
This commit is contained in:
Daniel Agar
@@ -0,0 +1,544 @@
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__max_num_sensor_instances: &max_num_sensor_instances 4
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module_name: sensors
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parameters:
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- group: Sensor Calibration
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definitions:
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# Accelerometer calibration
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CAL_ACC${i}_ID:
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description:
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short: Accelerometer ${i} calibration device ID
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long: Device ID of the accelerometer this calibration applies to.
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category: System
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type: int32
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default: 0
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num_instances: *max_num_sensor_instances
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instance_start: 0
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CAL_ACC${i}_PRIO:
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description:
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short: Accelerometer ${i} priority
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category: System
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type: enum
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values:
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-1: Uninitialized
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0: Disabled
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1: Min
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25: Low
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50: Medium (Default)
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75: High
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100: Max
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default: -1
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num_instances: *max_num_sensor_instances
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instance_start: 0
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CAL_ACC${i}_ROT:
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description:
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short: Accelerometer ${i} rotation relative to airframe
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long: |
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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.
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category: System
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type: enum
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values:
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-1: Internal
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0: No rotation
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1: Yaw 45°
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2: Yaw 90°
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3: Yaw 135°
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4: Yaw 180°
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5: Yaw 225°
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6: Yaw 270°
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7: Yaw 315°
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8: Roll 180°
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9: Roll 180°, Yaw 45°
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10: Roll 180°, Yaw 90°
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11: Roll 180°, Yaw 135°
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12: Pitch 180°
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13: Roll 180°, Yaw 225°
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14: Roll 180°, Yaw 270°
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15: Roll 180°, Yaw 315°
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16: Roll 90°
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17: Roll 90°, Yaw 45°
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18: Roll 90°, Yaw 90°
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19: Roll 90°, Yaw 135°
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20: Roll 270°
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21: Roll 270°, Yaw 45°
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22: Roll 270°, Yaw 90°
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23: Roll 270°, Yaw 135°
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24: Pitch 90°
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25: Pitch 270°
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26: Pitch 180°, Yaw 90°
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27: Pitch 180°, Yaw 270°
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28: Roll 90°, Pitch 90°
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29: Roll 180°, Pitch 90°
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30: Roll 270°, Pitch 90°
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31: Roll 90°, Pitch 180°
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32: Roll 270°, Pitch 180°
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33: Roll 90°, Pitch 270°
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34: Roll 180°, Pitch 270°
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35: Roll 270°, Pitch 270°
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36: Roll 90°, Pitch 180°, Yaw 90°
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37: Roll 90°, Yaw 270°
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38: Roll 90°, Pitch 68°, Yaw 293°
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39: Pitch 315°
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40: Roll 90°, Pitch 315°
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min: -1
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max: 40
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default: -1
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num_instances: *max_num_sensor_instances
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instance_start: 0
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CAL_ACC${i}_XOFF:
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description:
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short: Accelerometer ${i} X-axis offset
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category: System
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type: float
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default: 0.0
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unit: m
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volatile: true
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num_instances: *max_num_sensor_instances
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instance_start: 0
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CAL_ACC${i}_YOFF:
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description:
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short: Accelerometer ${i} Y-axis offset
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category: System
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type: float
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default: 0.0
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unit: m
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volatile: true
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num_instances: *max_num_sensor_instances
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instance_start: 0
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CAL_ACC${i}_ZOFF:
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description:
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short: Accelerometer ${i} Z-axis offset
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category: System
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type: float
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default: 0.0
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unit: m
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volatile: true
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num_instances: *max_num_sensor_instances
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instance_start: 0
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CAL_ACC${i}_XSCALE:
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description:
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short: Accelerometer ${i} X-axis scaling factor
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category: System
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type: float
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default: 1.0
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min: 0.1
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max: 3.0
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volatile: true
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num_instances: *max_num_sensor_instances
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instance_start: 0
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CAL_ACC${i}_YSCALE:
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description:
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short: Accelerometer ${i} Y-axis scaling factor
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category: System
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type: float
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default: 1.0
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min: 0.1
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max: 3.0
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volatile: true
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num_instances: *max_num_sensor_instances
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instance_start: 0
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CAL_ACC${i}_ZSCALE:
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description:
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short: Accelerometer ${i} Z-axis scaling factor
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category: System
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type: float
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default: 1.0
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min: 0.1
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max: 3.0
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volatile: true
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num_instances: *max_num_sensor_instances
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instance_start: 0
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CAL_ACC${i}_TEMP:
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description:
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short: Accelerometer ${i} calibration temperature
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long: Temperature during last calibration.
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category: System
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type: float
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default: -1000.
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unit: celcius
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volatile: true
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num_instances: *max_num_sensor_instances
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instance_start: 0
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# Gyroscope calibration
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CAL_GYRO${i}_ID:
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description:
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short: Gyroscope ${i} calibration device ID
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long: Device ID of the gyroscope this calibration applies to.
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category: System
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type: int32
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default: 0
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num_instances: *max_num_sensor_instances
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instance_start: 0
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CAL_GYRO${i}_PRIO:
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description:
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short: Gyroscope ${i} priority
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category: System
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type: enum
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values:
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-1: Uninitialized
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0: Disabled
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1: Min
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25: Low
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50: Medium (Default)
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75: High
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100: Max
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default: -1
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num_instances: *max_num_sensor_instances
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instance_start: 0
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CAL_GYRO${i}_ROT:
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description:
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short: Gyroscope ${i} rotation relative to airframe
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long: |
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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.
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category: System
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type: enum
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values:
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-1: Internal
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0: No rotation
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1: Yaw 45°
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2: Yaw 90°
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3: Yaw 135°
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4: Yaw 180°
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5: Yaw 225°
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6: Yaw 270°
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7: Yaw 315°
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8: Roll 180°
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9: Roll 180°, Yaw 45°
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10: Roll 180°, Yaw 90°
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11: Roll 180°, Yaw 135°
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12: Pitch 180°
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13: Roll 180°, Yaw 225°
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14: Roll 180°, Yaw 270°
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15: Roll 180°, Yaw 315°
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16: Roll 90°
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17: Roll 90°, Yaw 45°
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18: Roll 90°, Yaw 90°
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19: Roll 90°, Yaw 135°
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20: Roll 270°
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21: Roll 270°, Yaw 45°
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22: Roll 270°, Yaw 90°
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23: Roll 270°, Yaw 135°
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24: Pitch 90°
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25: Pitch 270°
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26: Pitch 180°, Yaw 90°
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27: Pitch 180°, Yaw 270°
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28: Roll 90°, Pitch 90°
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29: Roll 180°, Pitch 90°
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30: Roll 270°, Pitch 90°
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31: Roll 90°, Pitch 180°
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32: Roll 270°, Pitch 180°
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33: Roll 90°, Pitch 270°
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34: Roll 180°, Pitch 270°
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35: Roll 270°, Pitch 270°
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36: Roll 90°, Pitch 180°, Yaw 90°
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37: Roll 90°, Yaw 270°
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38: Roll 90°, Pitch 68°, Yaw 293°
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39: Pitch 315°
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40: Roll 90°, Pitch 315°
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min: -1
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max: 40
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default: -1
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num_instances: *max_num_sensor_instances
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instance_start: 0
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CAL_GYRO${i}_XOFF:
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description:
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short: Gyroscope ${i} X-axis offset
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category: System
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type: float
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default: 0.0
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unit: m
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volatile: true
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num_instances: *max_num_sensor_instances
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instance_start: 0
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CAL_GYRO${i}_YOFF:
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description:
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short: Gyroscope ${i} Y-axis offset
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category: System
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type: float
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default: 0.0
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unit: m
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volatile: true
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num_instances: *max_num_sensor_instances
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instance_start: 0
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CAL_GYRO${i}_ZOFF:
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description:
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short: Gyroscope ${i} Z-axis offset
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category: System
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type: float
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default: 0.0
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unit: m
|
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volatile: true
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num_instances: *max_num_sensor_instances
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instance_start: 0
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|
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CAL_GYRO${i}_TEMP:
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description:
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short: Gyroscope ${i} calibration temperature
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long: Temperature during last calibration.
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category: System
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type: float
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default: -1000.
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unit: celcius
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volatile: true
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num_instances: *max_num_sensor_instances
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instance_start: 0
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# Magnetometer calibration
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CAL_MAG${i}_ID:
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description:
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short: Magnetometer ${i} calibration device ID
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long: Device ID of the magnetometer this calibration applies to.
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category: System
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type: int32
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default: 0
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num_instances: *max_num_sensor_instances
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instance_start: 0
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CAL_MAG${i}_PRIO:
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description:
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short: Magnetometer ${i} priority
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category: System
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type: enum
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values:
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-1: Uninitialized
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0: Disabled
|
||||
1: Min
|
||||
25: Low
|
||||
50: Medium (Default)
|
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75: High
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100: Max
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default: -1
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num_instances: *max_num_sensor_instances
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instance_start: 0
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|
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CAL_MAG${i}_ROT:
|
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description:
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short: Magnetometer ${i} rotation relative to airframe
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long: |
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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.
|
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category: System
|
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type: enum
|
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values:
|
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-1: Internal
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0: No rotation
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||||
1: Yaw 45°
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2: Yaw 90°
|
||||
3: Yaw 135°
|
||||
4: Yaw 180°
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5: Yaw 225°
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6: Yaw 270°
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7: Yaw 315°
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8: Roll 180°
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9: Roll 180°, Yaw 45°
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10: Roll 180°, Yaw 90°
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||||
11: Roll 180°, Yaw 135°
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||||
12: Pitch 180°
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||||
13: Roll 180°, Yaw 225°
|
||||
14: Roll 180°, Yaw 270°
|
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15: Roll 180°, Yaw 315°
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||||
16: Roll 90°
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17: Roll 90°, Yaw 45°
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||||
18: Roll 90°, Yaw 90°
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19: Roll 90°, Yaw 135°
|
||||
20: Roll 270°
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21: Roll 270°, Yaw 45°
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22: Roll 270°, Yaw 90°
|
||||
23: Roll 270°, Yaw 135°
|
||||
24: Pitch 90°
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25: Pitch 270°
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26: Pitch 180°, Yaw 90°
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27: Pitch 180°, Yaw 270°
|
||||
28: Roll 90°, Pitch 90°
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29: Roll 180°, Pitch 90°
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||||
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°
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||||
38: Roll 90°, Pitch 68°, Yaw 293°
|
||||
39: Pitch 315°
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||||
40: Roll 90°, Pitch 315°
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||||
min: -1
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||||
max: 40
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||||
default: -1
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||||
num_instances: *max_num_sensor_instances
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||||
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
|
||||
Reference in New Issue
Block a user