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sensors temp compensation: use SENSOR_COUNT_MAX instead of just 3

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This commit is contained in:
Beat Küng
2017-01-19 08:00:09 +01:00
committed by Lorenz Meier
parent a3515893f3
commit 916a04bc56
4 changed files with 70 additions and 17 deletions
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src/modules/sensors/temperature_compensation.cpp
+7 -7
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@@ -54,7 +54,7 @@ int TemperatureCompensation::initialize_parameter_handles(ParameterHandles &para
/* rate gyro calibration parameters */
parameter_handles.gyro_tc_enable = param_find("TC_G_ENABLE");
for (unsigned j = 0; j < 3; j++) {
for (unsigned j = 0; j < SENSOR_COUNT_MAX; j++) {
sprintf(nbuf, "TC_G%d_ID", j);
parameter_handles.gyro_cal_handles[j].ID = param_find(nbuf);
@@ -82,7 +82,7 @@ int TemperatureCompensation::initialize_parameter_handles(ParameterHandles &para
/* accelerometer calibration parameters */
parameter_handles.accel_tc_enable = param_find("TC_A_ENABLE");
for (unsigned j = 0; j < 3; j++) {
for (unsigned j = 0; j < SENSOR_COUNT_MAX; j++) {
sprintf(nbuf, "TC_A%d_ID", j);
parameter_handles.accel_cal_handles[j].ID = param_find(nbuf);
@@ -110,7 +110,7 @@ int TemperatureCompensation::initialize_parameter_handles(ParameterHandles &para
/* barometer calibration parameters */
parameter_handles.baro_tc_enable = param_find("TC_B_ENABLE");
for (unsigned j = 0; j < 3; j++) {
for (unsigned j = 0; j < SENSOR_COUNT_MAX; j++) {
sprintf(nbuf, "TC_B%d_ID", j);
parameter_handles.baro_cal_handles[j].ID = param_find(nbuf);
sprintf(nbuf, "TC_B%d_X5", j);
@@ -152,7 +152,7 @@ int TemperatureCompensation::parameters_update()
/* rate gyro calibration parameters */
param_get(parameter_handles.gyro_tc_enable, &(_parameters.gyro_tc_enable));
for (unsigned j = 0; j < 3; j++) {
for (unsigned j = 0; j < SENSOR_COUNT_MAX; j++) {
if (param_get(parameter_handles.gyro_cal_handles[j].ID, &(_parameters.gyro_cal_data[j].ID)) == PX4_OK) {
param_get(parameter_handles.gyro_cal_handles[j].ref_temp, &(_parameters.gyro_cal_data[j].ref_temp));
param_get(parameter_handles.gyro_cal_handles[j].min_temp, &(_parameters.gyro_cal_data[j].min_temp));
@@ -183,7 +183,7 @@ int TemperatureCompensation::parameters_update()
/* accelerometer calibration parameters */
param_get(parameter_handles.accel_tc_enable, &(_parameters.accel_tc_enable));
for (unsigned j = 0; j < 3; j++) {
for (unsigned j = 0; j < SENSOR_COUNT_MAX; j++) {
if (param_get(parameter_handles.accel_cal_handles[j].ID, &(_parameters.accel_cal_data[j].ID)) == PX4_OK) {
param_get(parameter_handles.accel_cal_handles[j].ref_temp, &(_parameters.accel_cal_data[j].ref_temp));
param_get(parameter_handles.accel_cal_handles[j].min_temp, &(_parameters.accel_cal_data[j].min_temp));
@@ -214,7 +214,7 @@ int TemperatureCompensation::parameters_update()
/* barometer calibration parameters */
param_get(parameter_handles.baro_tc_enable, &(_parameters.baro_tc_enable));
for (unsigned j = 0; j < 3; j++) {
for (unsigned j = 0; j < SENSOR_COUNT_MAX; j++) {
if (param_get(parameter_handles.baro_cal_handles[j].ID, &(_parameters.baro_cal_data[j].ID)) == PX4_OK) {
param_get(parameter_handles.baro_cal_handles[j].ref_temp, &(_parameters.baro_cal_data[j].ref_temp));
param_get(parameter_handles.baro_cal_handles[j].min_temp, &(_parameters.baro_cal_data[j].min_temp));
@@ -332,7 +332,7 @@ template<typename T>
int TemperatureCompensation::set_sensor_id(uint32_t device_id, int topic_instance, PerSensorData &sensor_data,
const T *sensor_cal_data)
{
for (int i = 0; i < 3; ++i) {
for (int i = 0; i < SENSOR_COUNT_MAX; ++i) {
if (device_id == sensor_cal_data[i].ID) {
sensor_data.device_mapping[topic_instance] = i;
return 0;