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sensors: move mag aggregation to new VehicleMagnetometer WorkItem

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- purge all reminaing magnetometer IOCTL usage
 - mag calibration add off diagonal (soft iron) scale factors
This commit is contained in:
Daniel Agar
2020-08-21 10:12:13 -04:00
parent ad148af2fd
commit 971b1e4b4d
72 changed files with 870 additions and 1134 deletions
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src/modules/sensors/sensor_params_mag2.c
+25 -1
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2018 PX4 Development Team. All rights reserved.
* 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
@@ -159,6 +159,30 @@ PARAM_DEFINE_FLOAT(CAL_MAG2_YSCALE, 1.0f);
*/
PARAM_DEFINE_FLOAT(CAL_MAG2_ZSCALE, 1.0f);
/**
* Magnetometer X-axis off diagonal factor
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG2_XODIAG, 0.0f);
/**
* Magnetometer Y-axis off diagonal factor
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG2_YODIAG, 0.0f);
/**
* Magnetometer Z-axis off diagonal factor
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG2_ZODIAG, 0.0f);
/**
* Coefficient describing linear relationship between
* X component of magnetometer in body frame axis