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drivers: re-use calibration topic

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E.g. instead of defining a gyro_scale struct in drv_gyro.h, use the
gyro_calibration message.
This commit is contained in:
Julian Oes
2016-03-24 13:08:30 +01:00
parent 98e407696e
commit b9cc0b74e2
16 changed files with 343 additions and 129 deletions
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src/modules/sensors/sensors.cpp
+18 -18
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@@ -464,7 +464,7 @@ private:
* @param device: the device id of the sensor.
* @return: true if config is ok
*/
bool apply_gyro_calibration(DevHandle &h, const struct gyro_scale *gscale, const int device_id);
bool apply_gyro_calibration(DevHandle &h, const struct gyro_calibration_s *gcal, const int device_id);
/**
* Apply a accel calibration.
@@ -474,7 +474,7 @@ private:
* @param device: the device id of the sensor.
* @return: true if config is ok
*/
bool apply_accel_calibration(DevHandle &h, const struct accel_scale *ascale, const int device_id);
bool apply_accel_calibration(DevHandle &h, const struct accel_calibration_s *acal, const int device_id);
/**
* Apply a mag calibration.
@@ -484,7 +484,7 @@ private:
* @param device: the device id of the sensor.
* @return: true if config is ok
*/
bool apply_mag_calibration(DevHandle &h, const struct mag_scale *mscale, const int device_id);
bool apply_mag_calibration(DevHandle &h, const struct mag_calibration_s *mcal, const int device_id);
/**
* Check for changes in rc_parameter_map
@@ -1255,7 +1255,7 @@ Sensors::parameter_update_poll(bool forced)
/* if the calibration is for this device, apply it */
if (device_id == h.ioctl(DEVIOCGDEVICEID, 0)) {
struct gyro_scale gscale = {};
struct gyro_calibration_s gscale = {};
(void)sprintf(str, "CAL_GYRO%u_XOFF", i);
failed = failed || (OK != param_get(param_find(str), &gscale.x_offset));
(void)sprintf(str, "CAL_GYRO%u_YOFF", i);
@@ -1323,7 +1323,7 @@ Sensors::parameter_update_poll(bool forced)
/* if the calibration is for this device, apply it */
if (device_id == h.ioctl(DEVIOCGDEVICEID, 0)) {
struct accel_scale ascale = {};
struct accel_calibration_s ascale = {};
(void)sprintf(str, "CAL_ACC%u_XOFF", i);
failed = failed || (OK != param_get(param_find(str), &ascale.x_offset));
(void)sprintf(str, "CAL_ACC%u_YOFF", i);
@@ -1400,7 +1400,7 @@ Sensors::parameter_update_poll(bool forced)
/* if the calibration is for this device, apply it */
if (device_id == h.ioctl(DEVIOCGDEVICEID, 0)) {
struct mag_scale mscale = {};
struct mag_calibration_s mscale = {};
(void)sprintf(str, "CAL_MAG%u_XOFF", i);
failed = failed || (OK != param_get(param_find(str), &mscale.x_offset));
(void)sprintf(str, "CAL_MAG%u_YOFF", i);
@@ -1515,12 +1515,12 @@ Sensors::parameter_update_poll(bool forced)
}
bool
Sensors::apply_gyro_calibration(DevHandle &h, const struct gyro_scale *gscale, const int device_id)
Sensors::apply_gyro_calibration(DevHandle &h, const struct gyro_calibration_s *gcal, const int device_id)
{
#ifndef __PX4_QURT
/* On most systems, we can just use the IOCTL call to set the calibration params. */
const int res = h.ioctl(GYROIOCSSCALE, (long unsigned int)gscale);
const int res = h.ioctl(GYROIOCSSCALE, (long unsigned int)gcal);
if (res) {
return false;
@@ -1535,10 +1535,10 @@ Sensors::apply_gyro_calibration(DevHandle &h, const struct gyro_scale *gscale, c
static orb_advert_t gyro_calibration_pub = nullptr;
if (gyro_calibration_pub != nullptr) {
orb_publish(ORB_ID(gyro_calibration), gyro_calibration_pub, gscale);
orb_publish(ORB_ID(gyro_calibration), gyro_calibration_pub, gcal);
} else {
gyro_calibration_pub = orb_advertise(ORB_ID(gyro_calibration), gscale);
gyro_calibration_pub = orb_advertise(ORB_ID(gyro_calibration), gcal);
}
return true;
@@ -1546,12 +1546,12 @@ Sensors::apply_gyro_calibration(DevHandle &h, const struct gyro_scale *gscale, c
}
bool
Sensors::apply_accel_calibration(DevHandle &h, const struct accel_scale *ascale, const int device_id)
Sensors::apply_accel_calibration(DevHandle &h, const struct accel_calibration_s *acal, const int device_id)
{
#ifndef __PX4_QURT
/* On most systems, we can just use the IOCTL call to set the calibration params. */
const int res = h.ioctl(ACCELIOCSSCALE, (long unsigned int)ascale);
const int res = h.ioctl(ACCELIOCSSCALE, (long unsigned int)acal);
if (res) {
return false;
@@ -1566,10 +1566,10 @@ Sensors::apply_accel_calibration(DevHandle &h, const struct accel_scale *ascale,
static orb_advert_t accel_calibration_pub = nullptr;
if (accel_calibration_pub != nullptr) {
orb_publish(ORB_ID(accel_calibration), accel_calibration_pub, ascale);
orb_publish(ORB_ID(accel_calibration), accel_calibration_pub, acal);
} else {
accel_calibration_pub = orb_advertise(ORB_ID(accel_calibration), ascale);
accel_calibration_pub = orb_advertise(ORB_ID(accel_calibration), acal);
}
return true;
@@ -1577,12 +1577,12 @@ Sensors::apply_accel_calibration(DevHandle &h, const struct accel_scale *ascale,
}
bool
Sensors::apply_mag_calibration(DevHandle &h, const struct mag_scale *mscale, const int device_id)
Sensors::apply_mag_calibration(DevHandle &h, const struct mag_calibration_s *mcal, const int device_id)
{
#ifndef __PX4_QURT
/* On most systems, we can just use the IOCTL call to set the calibration params. */
const int res = h.ioctl(MAGIOCSSCALE, (long unsigned int)mscale);
const int res = h.ioctl(MAGIOCSSCALE, (long unsigned int)mcal);
if (res) {
return false;
@@ -1597,10 +1597,10 @@ Sensors::apply_mag_calibration(DevHandle &h, const struct mag_scale *mscale, con
static orb_advert_t mag_calibration_pub = nullptr;
if (mag_calibration_pub != nullptr) {
orb_publish(ORB_ID(mag_calibration), mag_calibration_pub, mscale);
orb_publish(ORB_ID(mag_calibration), mag_calibration_pub, mcal);
} else {
mag_calibration_pub = orb_advertise(ORB_ID(mag_calibration), mscale);
mag_calibration_pub = orb_advertise(ORB_ID(mag_calibration), mcal);
}
return true;