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calibration parameters volatile (offsets and scale factors)

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- anything set vehicle side should be volatile and excluded from the
param hash
This commit is contained in:
Daniel Agar
2021-02-09 11:06:27 -05:00
committed by Beat Küng
parent bf29ec2da2
commit a76e429b1a
14 changed files with 74 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/sensors/sensor_params.c
+1
View File
@@ -83,6 +83,7 @@ PARAM_DEFINE_FLOAT(CAL_AIR_TUBED_MM, 1.5f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(SENS_DPRES_OFF, 0.0f);
src/modules/sensors/sensor_params_acc0.c
+6
View File
@@ -118,6 +118,7 @@ PARAM_DEFINE_INT32(CAL_ACC0_ROT, -1);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC0_XOFF, 0.0f);
@@ -126,6 +127,7 @@ PARAM_DEFINE_FLOAT(CAL_ACC0_XOFF, 0.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC0_YOFF, 0.0f);
@@ -134,6 +136,7 @@ PARAM_DEFINE_FLOAT(CAL_ACC0_YOFF, 0.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC0_ZOFF, 0.0f);
@@ -142,6 +145,7 @@ PARAM_DEFINE_FLOAT(CAL_ACC0_ZOFF, 0.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC0_XSCALE, 1.0f);
@@ -150,6 +154,7 @@ PARAM_DEFINE_FLOAT(CAL_ACC0_XSCALE, 1.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC0_YSCALE, 1.0f);
@@ -158,5 +163,6 @@ PARAM_DEFINE_FLOAT(CAL_ACC0_YSCALE, 1.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC0_ZSCALE, 1.0f);
src/modules/sensors/sensor_params_acc1.c
+6
View File
@@ -118,6 +118,7 @@ PARAM_DEFINE_INT32(CAL_ACC1_ROT, -1);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC1_XOFF, 0.0f);
@@ -126,6 +127,7 @@ PARAM_DEFINE_FLOAT(CAL_ACC1_XOFF, 0.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC1_YOFF, 0.0f);
@@ -134,6 +136,7 @@ PARAM_DEFINE_FLOAT(CAL_ACC1_YOFF, 0.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC1_ZOFF, 0.0f);
@@ -142,6 +145,7 @@ PARAM_DEFINE_FLOAT(CAL_ACC1_ZOFF, 0.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC1_XSCALE, 1.0f);
@@ -150,6 +154,7 @@ PARAM_DEFINE_FLOAT(CAL_ACC1_XSCALE, 1.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC1_YSCALE, 1.0f);
@@ -158,5 +163,6 @@ PARAM_DEFINE_FLOAT(CAL_ACC1_YSCALE, 1.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC1_ZSCALE, 1.0f);
src/modules/sensors/sensor_params_acc2.c
+6
View File
@@ -118,6 +118,7 @@ PARAM_DEFINE_INT32(CAL_ACC2_ROT, -1);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC2_XOFF, 0.0f);
@@ -126,6 +127,7 @@ PARAM_DEFINE_FLOAT(CAL_ACC2_XOFF, 0.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC2_YOFF, 0.0f);
@@ -134,6 +136,7 @@ PARAM_DEFINE_FLOAT(CAL_ACC2_YOFF, 0.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC2_ZOFF, 0.0f);
@@ -142,6 +145,7 @@ PARAM_DEFINE_FLOAT(CAL_ACC2_ZOFF, 0.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC2_XSCALE, 1.0f);
@@ -150,6 +154,7 @@ PARAM_DEFINE_FLOAT(CAL_ACC2_XSCALE, 1.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC2_YSCALE, 1.0f);
@@ -158,5 +163,6 @@ PARAM_DEFINE_FLOAT(CAL_ACC2_YSCALE, 1.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC2_ZSCALE, 1.0f);
src/modules/sensors/sensor_params_acc3.c
+6
View File
@@ -118,6 +118,7 @@ PARAM_DEFINE_INT32(CAL_ACC3_ROT, -1);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC3_XOFF, 0.0f);
@@ -126,6 +127,7 @@ PARAM_DEFINE_FLOAT(CAL_ACC3_XOFF, 0.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC3_YOFF, 0.0f);
@@ -134,6 +136,7 @@ PARAM_DEFINE_FLOAT(CAL_ACC3_YOFF, 0.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC3_ZOFF, 0.0f);
@@ -142,6 +145,7 @@ PARAM_DEFINE_FLOAT(CAL_ACC3_ZOFF, 0.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC3_XSCALE, 1.0f);
@@ -150,6 +154,7 @@ PARAM_DEFINE_FLOAT(CAL_ACC3_XSCALE, 1.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC3_YSCALE, 1.0f);
@@ -158,5 +163,6 @@ PARAM_DEFINE_FLOAT(CAL_ACC3_YSCALE, 1.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_ACC3_ZSCALE, 1.0f);
src/modules/sensors/sensor_params_flow.c
+1 -1
View File
@@ -96,4 +96,4 @@ PARAM_DEFINE_FLOAT(SENS_FLOW_MAXHGT, 3.0f);
* @decimal 2
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_FLOW_MAXR, 2.5f);
PARAM_DEFINE_FLOAT(SENS_FLOW_MAXR, 2.5f);
src/modules/sensors/sensor_params_gyro0.c
+3
View File
@@ -118,6 +118,7 @@ PARAM_DEFINE_INT32(CAL_GYRO0_ROT, -1);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_GYRO0_XOFF, 0.0f);
@@ -126,6 +127,7 @@ PARAM_DEFINE_FLOAT(CAL_GYRO0_XOFF, 0.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_GYRO0_YOFF, 0.0f);
@@ -134,5 +136,6 @@ PARAM_DEFINE_FLOAT(CAL_GYRO0_YOFF, 0.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_GYRO0_ZOFF, 0.0f);
src/modules/sensors/sensor_params_gyro1.c
+3
View File
@@ -118,6 +118,7 @@ PARAM_DEFINE_INT32(CAL_GYRO1_ROT, -1);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_GYRO1_XOFF, 0.0f);
@@ -126,6 +127,7 @@ PARAM_DEFINE_FLOAT(CAL_GYRO1_XOFF, 0.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_GYRO1_YOFF, 0.0f);
@@ -134,5 +136,6 @@ PARAM_DEFINE_FLOAT(CAL_GYRO1_YOFF, 0.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_GYRO1_ZOFF, 0.0f);
src/modules/sensors/sensor_params_gyro2.c
+3
View File
@@ -118,6 +118,7 @@ PARAM_DEFINE_INT32(CAL_GYRO2_ROT, -1);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_GYRO2_XOFF, 0.0f);
@@ -126,6 +127,7 @@ PARAM_DEFINE_FLOAT(CAL_GYRO2_XOFF, 0.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_GYRO2_YOFF, 0.0f);
@@ -134,5 +136,6 @@ PARAM_DEFINE_FLOAT(CAL_GYRO2_YOFF, 0.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_GYRO2_ZOFF, 0.0f);
src/modules/sensors/sensor_params_gyro3.c
+3
View File
@@ -118,6 +118,7 @@ PARAM_DEFINE_INT32(CAL_GYRO3_ROT, -1);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_GYRO3_XOFF, 0.0f);
@@ -126,6 +127,7 @@ PARAM_DEFINE_FLOAT(CAL_GYRO3_XOFF, 0.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_GYRO3_YOFF, 0.0f);
@@ -134,5 +136,6 @@ PARAM_DEFINE_FLOAT(CAL_GYRO3_YOFF, 0.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_GYRO3_ZOFF, 0.0f);
src/modules/sensors/sensor_params_mag0.c
+9
View File
@@ -118,6 +118,7 @@ PARAM_DEFINE_INT32(CAL_MAG0_ROT, -1);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG0_XOFF, 0.0f);
@@ -126,6 +127,7 @@ PARAM_DEFINE_FLOAT(CAL_MAG0_XOFF, 0.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG0_YOFF, 0.0f);
@@ -134,6 +136,7 @@ PARAM_DEFINE_FLOAT(CAL_MAG0_YOFF, 0.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG0_ZOFF, 0.0f);
@@ -142,6 +145,7 @@ PARAM_DEFINE_FLOAT(CAL_MAG0_ZOFF, 0.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG0_XSCALE, 1.0f);
@@ -150,6 +154,7 @@ PARAM_DEFINE_FLOAT(CAL_MAG0_XSCALE, 1.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG0_YSCALE, 1.0f);
@@ -158,6 +163,7 @@ PARAM_DEFINE_FLOAT(CAL_MAG0_YSCALE, 1.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG0_ZSCALE, 1.0f);
@@ -166,6 +172,7 @@ PARAM_DEFINE_FLOAT(CAL_MAG0_ZSCALE, 1.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG0_XODIAG, 0.0f);
@@ -174,6 +181,7 @@ PARAM_DEFINE_FLOAT(CAL_MAG0_XODIAG, 0.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG0_YODIAG, 0.0f);
@@ -182,6 +190,7 @@ PARAM_DEFINE_FLOAT(CAL_MAG0_YODIAG, 0.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG0_ZODIAG, 0.0f);
src/modules/sensors/sensor_params_mag1.c
+9
View File
@@ -118,6 +118,7 @@ PARAM_DEFINE_INT32(CAL_MAG1_ROT, -1);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG1_XOFF, 0.0f);
@@ -126,6 +127,7 @@ PARAM_DEFINE_FLOAT(CAL_MAG1_XOFF, 0.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG1_YOFF, 0.0f);
@@ -134,6 +136,7 @@ PARAM_DEFINE_FLOAT(CAL_MAG1_YOFF, 0.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG1_ZOFF, 0.0f);
@@ -142,6 +145,7 @@ PARAM_DEFINE_FLOAT(CAL_MAG1_ZOFF, 0.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG1_XSCALE, 1.0f);
@@ -150,6 +154,7 @@ PARAM_DEFINE_FLOAT(CAL_MAG1_XSCALE, 1.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG1_YSCALE, 1.0f);
@@ -158,6 +163,7 @@ PARAM_DEFINE_FLOAT(CAL_MAG1_YSCALE, 1.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG1_ZSCALE, 1.0f);
@@ -166,6 +172,7 @@ PARAM_DEFINE_FLOAT(CAL_MAG1_ZSCALE, 1.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG1_XODIAG, 0.0f);
@@ -174,6 +181,7 @@ PARAM_DEFINE_FLOAT(CAL_MAG1_XODIAG, 0.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG1_YODIAG, 0.0f);
@@ -182,6 +190,7 @@ PARAM_DEFINE_FLOAT(CAL_MAG1_YODIAG, 0.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG1_ZODIAG, 0.0f);
src/modules/sensors/sensor_params_mag2.c
+9
View File
@@ -118,6 +118,7 @@ PARAM_DEFINE_INT32(CAL_MAG2_ROT, -1);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG2_XOFF, 0.0f);
@@ -126,6 +127,7 @@ PARAM_DEFINE_FLOAT(CAL_MAG2_XOFF, 0.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG2_YOFF, 0.0f);
@@ -134,6 +136,7 @@ PARAM_DEFINE_FLOAT(CAL_MAG2_YOFF, 0.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG2_ZOFF, 0.0f);
@@ -142,6 +145,7 @@ PARAM_DEFINE_FLOAT(CAL_MAG2_ZOFF, 0.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG2_XSCALE, 1.0f);
@@ -150,6 +154,7 @@ PARAM_DEFINE_FLOAT(CAL_MAG2_XSCALE, 1.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG2_YSCALE, 1.0f);
@@ -158,6 +163,7 @@ PARAM_DEFINE_FLOAT(CAL_MAG2_YSCALE, 1.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG2_ZSCALE, 1.0f);
@@ -166,6 +172,7 @@ PARAM_DEFINE_FLOAT(CAL_MAG2_ZSCALE, 1.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG2_XODIAG, 0.0f);
@@ -174,6 +181,7 @@ PARAM_DEFINE_FLOAT(CAL_MAG2_XODIAG, 0.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG2_YODIAG, 0.0f);
@@ -182,6 +190,7 @@ PARAM_DEFINE_FLOAT(CAL_MAG2_YODIAG, 0.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG2_ZODIAG, 0.0f);
src/modules/sensors/sensor_params_mag3.c
+9
View File
@@ -118,6 +118,7 @@ PARAM_DEFINE_INT32(CAL_MAG3_ROT, -1);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG3_XOFF, 0.0f);
@@ -126,6 +127,7 @@ PARAM_DEFINE_FLOAT(CAL_MAG3_XOFF, 0.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG3_YOFF, 0.0f);
@@ -134,6 +136,7 @@ PARAM_DEFINE_FLOAT(CAL_MAG3_YOFF, 0.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG3_ZOFF, 0.0f);
@@ -142,6 +145,7 @@ PARAM_DEFINE_FLOAT(CAL_MAG3_ZOFF, 0.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG3_XSCALE, 1.0f);
@@ -150,6 +154,7 @@ PARAM_DEFINE_FLOAT(CAL_MAG3_XSCALE, 1.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG3_YSCALE, 1.0f);
@@ -158,6 +163,7 @@ PARAM_DEFINE_FLOAT(CAL_MAG3_YSCALE, 1.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG3_ZSCALE, 1.0f);
@@ -166,6 +172,7 @@ PARAM_DEFINE_FLOAT(CAL_MAG3_ZSCALE, 1.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG3_XODIAG, 0.0f);
@@ -174,6 +181,7 @@ PARAM_DEFINE_FLOAT(CAL_MAG3_XODIAG, 0.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG3_YODIAG, 0.0f);
@@ -182,6 +190,7 @@ PARAM_DEFINE_FLOAT(CAL_MAG3_YODIAG, 0.0f);
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(CAL_MAG3_ZODIAG, 0.0f);