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refactor(sensors): convert params.c to module.yaml

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Convert 7 parameter file(s) from legacy C format to YAML
module configuration.
This commit is contained in:
Jacob Dahl 2026-03-17 21:55:35 -08:00 committed by Jacob Dahl
parent 139279747e
commit c09976f99b
11 changed files with 371 additions and 919 deletions
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3
src/modules/sensors/CMakeLists.txt
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@ -74,6 +74,9 @@ px4_add_module(
MODULE_CONFIG
module.yaml
vehicle_gps_position/module.yaml
sensor_params.yaml
sensor_params_flow.yaml
sensor_params_mag.yaml
DEPENDS
conversion
data_validator

258
src/modules/sensors/sensor_params.c
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@ -1,258 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012-2019 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
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* Airspeed sensor compensation model for the SDP3x
*
* Model with Pitot
* CAL_AIR_TUBED_MM: Not used, 1.5 mm tubes assumed.
* CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor.
* Model without Pitot (1.5 mm tubes)
* CAL_AIR_TUBED_MM: Not used, 1.5 mm tubes assumed.
* CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor.
* Tube Pressure Drop
* CAL_AIR_TUBED_MM: Diameter in mm of the pitot and tubes, must have the same diameter.
* CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor and the static + dynamic port length of the pitot.
*
* @value 0 Model with Pitot
* @value 1 Model without Pitot (1.5 mm tubes)
* @value 2 Tube Pressure Drop
*
* @group Sensors
*/
PARAM_DEFINE_INT32(CAL_AIR_CMODEL, 0);
/**
* Airspeed sensor tube length.
*
* See the CAL_AIR_CMODEL explanation on how this parameter should be set.
*
* @min 0.01
* @max 2.00
* @unit m
*
* @group Sensors
*/
PARAM_DEFINE_FLOAT(CAL_AIR_TUBELEN, 0.2f);
/**
* Airspeed sensor tube diameter. Only used for the Tube Pressure Drop Compensation.
*
* @min 1.5
* @max 100
* @unit mm
*
* @group Sensors
*/
PARAM_DEFINE_FLOAT(CAL_AIR_TUBED_MM, 1.5f);
/**
* Differential pressure sensor offset
*
* The offset (zero-reading) in Pascal
*
* @category system
* @group Sensor Calibration
* @volatile
*/
PARAM_DEFINE_FLOAT(SENS_DPRES_OFF, 0.0f);
/**
* Reverse differential pressure sensor readings
*
* Reverse the raw measurements of all differential pressure sensors.
* This can be enabled if the sensors have static and dynamic ports swapped.
*
* @category system
* @group Sensor Calibration
* @boolean
*/
PARAM_DEFINE_INT32(SENS_DPRES_REV, 0);
/**
* Differential pressure sensor analog scaling
*
* Pick the appropriate scaling from the datasheet.
* this number defines the (linear) conversion from voltage
* to Pascal (pa). For the MPXV7002DP this is 1000.
*
* NOTE: If the sensor always registers zero, try switching
* the static and dynamic tubes.
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_DPRES_ANSC, 0);
/**
* Board rotation
*
* This parameter defines the rotation of the FMU board relative to the platform.
*
* @value 0 No rotation
* @value 1 Yaw 45°
* @value 2 Yaw 90°
* @value 3 Yaw 135°
* @value 4 Yaw 180°
* @value 5 Yaw 225°
* @value 6 Yaw 270°
* @value 7 Yaw 315°
* @value 8 Roll 180°
* @value 9 Roll 180°, Yaw 45°
* @value 10 Roll 180°, Yaw 90°
* @value 11 Roll 180°, Yaw 135°
* @value 12 Pitch 180°
* @value 13 Roll 180°, Yaw 225°
* @value 14 Roll 180°, Yaw 270°
* @value 15 Roll 180°, Yaw 315°
* @value 16 Roll 90°
* @value 17 Roll 90°, Yaw 45°
* @value 18 Roll 90°, Yaw 90°
* @value 19 Roll 90°, Yaw 135°
* @value 20 Roll 270°
* @value 21 Roll 270°, Yaw 45°
* @value 22 Roll 270°, Yaw 90°
* @value 23 Roll 270°, Yaw 135°
* @value 24 Pitch 90°
* @value 25 Pitch 270°
* @value 26 Pitch 180°, Yaw 90°
* @value 27 Pitch 180°, Yaw 270°
* @value 28 Roll 90°, Pitch 90°
* @value 29 Roll 180°, Pitch 90°
* @value 30 Roll 270°, Pitch 90°
* @value 31 Roll 90°, Pitch 180°
* @value 32 Roll 270°, Pitch 180°
* @value 33 Roll 90°, Pitch 270°
* @value 34 Roll 180°, Pitch 270°
* @value 35 Roll 270°, Pitch 270°
* @value 36 Roll 90°, Pitch 180°, Yaw 90°
* @value 37 Roll 90°, Yaw 270°
* @value 38 Roll 90°, Pitch 68°, Yaw 293°
* @value 39 Pitch 315°
* @value 40 Roll 90°, Pitch 315°
*
* @min -1
* @max 40
* @reboot_required true
* @group Sensors
*/
PARAM_DEFINE_INT32(SENS_BOARD_ROT, 0);
/**
* Board rotation Y (pitch) offset
*
* Rotation from flight controller board to vehicle body frame.
* This parameter gets set during the "level horizon" calibration or can be
* set manually.
*
* @min -45.0
* @max 45.0
* @decimal 1
* @unit deg
* @group Sensors
*/
PARAM_DEFINE_FLOAT(SENS_BOARD_Y_OFF, 0.0f);
/**
* Board rotation X (roll) offset
*
* Rotation from flight controller board to vehicle body frame.
* This parameter gets set during the "level horizon" calibration or can be
* set manually.
*
* @unit deg
* @min -45.0
* @max 45.0
* @decimal 1
* @group Sensors
*/
PARAM_DEFINE_FLOAT(SENS_BOARD_X_OFF, 0.0f);
/**
* Board rotation Z (yaw) offset
*
* Rotation from flight controller board to vehicle body frame.
* Has to be set manually (not set by any calibration).
*
* @min -45.0
* @max 45.0
* @decimal 1
* @unit deg
* @group Sensors
*/
PARAM_DEFINE_FLOAT(SENS_BOARD_Z_OFF, 0.0f);
/**
* Thermal control of sensor temperature
*
* @value -1 Thermal control unavailable
* @value 0 Thermal control off
* @value 1 Thermal control enabled
* @category system
* @group Sensors
*/
PARAM_DEFINE_INT32(SENS_EN_THERMAL, -1);
/**
* External I2C probe.
*
* Probe for optional external I2C devices.
*
* @boolean
* @category system
* @group Sensors
*/
PARAM_DEFINE_INT32(SENS_EXT_I2C_PRB, 1);
/**
* Sensors hub IMU mode
*
* @value 0 Disabled
* @value 1 Publish primary IMU selection
*
* @category system
* @reboot_required true
* @group Sensors
*/
PARAM_DEFINE_INT32(SENS_IMU_MODE, 1);
/**
* Enable internal barometers
*
* For systems with an external barometer, this should be set to false to make sure that the external is used.
*
* @boolean
* @reboot_required true
* @category system
* @group Sensors
*/
PARAM_DEFINE_INT32(SENS_INT_BARO_EN, 1);

199
src/modules/sensors/sensor_params.yaml Normal file
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@ -0,0 +1,199 @@
module_name: sensors
parameters:
- group: Sensor Calibration
definitions:
SENS_DPRES_OFF:
description:
short: Differential pressure sensor offset
long: The offset (zero-reading) in Pascal
category: System
type: float
default: 0.0
volatile: true
SENS_DPRES_REV:
description:
short: Reverse differential pressure sensor readings
long: |-
Reverse the raw measurements of all differential pressure sensors.
This can be enabled if the sensors have static and dynamic ports swapped.
category: System
type: boolean
default: 0
SENS_DPRES_ANSC:
description:
short: Differential pressure sensor analog scaling
long: |-
Pick the appropriate scaling from the datasheet.
this number defines the (linear) conversion from voltage
to Pascal (pa). For the MPXV7002DP this is 1000.
NOTE: If the sensor always registers zero, try switching
the static and dynamic tubes.
type: float
default: 0
- group: Sensors
definitions:
CAL_AIR_CMODEL:
description:
short: Airspeed sensor compensation model for the SDP3x
long: |-
Model with Pitot
CAL_AIR_TUBED_MM: Not used, 1.5 mm tubes assumed.
CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor.
Model without Pitot (1.5 mm tubes)
CAL_AIR_TUBED_MM: Not used, 1.5 mm tubes assumed.
CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor.
Tube Pressure Drop
CAL_AIR_TUBED_MM: Diameter in mm of the pitot and tubes, must have the same diameter.
CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor and the static + dynamic port length of the pitot.
type: enum
values:
0: Model with Pitot
1: Model without Pitot (1.5 mm tubes)
2: Tube Pressure Drop
default: 0
CAL_AIR_TUBELEN:
description:
short: Airspeed sensor tube length
long: See the CAL_AIR_CMODEL explanation on how this parameter should be set.
type: float
default: 0.2
min: 0.01
max: 2.0
unit: m
CAL_AIR_TUBED_MM:
description:
short: Airspeed sensor tube diameter
long: Airspeed sensor tube diameter. Only used for the Tube Pressure Drop
Compensation
type: float
default: 1.5
min: 1.5
max: 100
unit: mm
SENS_BOARD_ROT:
description:
short: Board rotation
long: This parameter defines the rotation of the FMU board relative to the
platform.
type: enum
values:
0: No rotation
1: "Yaw 45\xB0"
2: "Yaw 90\xB0"
3: "Yaw 135\xB0"
4: "Yaw 180\xB0"
5: "Yaw 225\xB0"
6: "Yaw 270\xB0"
7: "Yaw 315\xB0"
8: "Roll 180\xB0"
9: "Roll 180\xB0, Yaw 45\xB0"
10: "Roll 180\xB0, Yaw 90\xB0"
11: "Roll 180\xB0, Yaw 135\xB0"
12: "Pitch 180\xB0"
13: "Roll 180\xB0, Yaw 225\xB0"
14: "Roll 180\xB0, Yaw 270\xB0"
15: "Roll 180\xB0, Yaw 315\xB0"
16: "Roll 90\xB0"
17: "Roll 90\xB0, Yaw 45\xB0"
18: "Roll 90\xB0, Yaw 90\xB0"
19: "Roll 90\xB0, Yaw 135\xB0"
20: "Roll 270\xB0"
21: "Roll 270\xB0, Yaw 45\xB0"
22: "Roll 270\xB0, Yaw 90\xB0"
23: "Roll 270\xB0, Yaw 135\xB0"
24: "Pitch 90\xB0"
25: "Pitch 270\xB0"
26: "Pitch 180\xB0, Yaw 90\xB0"
27: "Pitch 180\xB0, Yaw 270\xB0"
28: "Roll 90\xB0, Pitch 90\xB0"
29: "Roll 180\xB0, Pitch 90\xB0"
30: "Roll 270\xB0, Pitch 90\xB0"
31: "Roll 90\xB0, Pitch 180\xB0"
32: "Roll 270\xB0, Pitch 180\xB0"
33: "Roll 90\xB0, Pitch 270\xB0"
34: "Roll 180\xB0, Pitch 270\xB0"
35: "Roll 270\xB0, Pitch 270\xB0"
36: "Roll 90\xB0, Pitch 180\xB0, Yaw 90\xB0"
37: "Roll 90\xB0, Yaw 270\xB0"
38: "Roll 90\xB0, Pitch 68\xB0, Yaw 293\xB0"
39: "Pitch 315\xB0"
40: "Roll 90\xB0, Pitch 315\xB0"
default: 0
min: -1
max: 40
reboot_required: true
SENS_BOARD_Y_OFF:
description:
short: Board rotation Y (pitch) offset
long: |-
Rotation from flight controller board to vehicle body frame.
This parameter gets set during the "level horizon" calibration or can be
set manually.
type: float
default: 0.0
min: -45.0
max: 45.0
decimal: 1
unit: deg
SENS_BOARD_X_OFF:
description:
short: Board rotation X (roll) offset
long: |-
Rotation from flight controller board to vehicle body frame.
This parameter gets set during the "level horizon" calibration or can be
set manually.
type: float
default: 0.0
unit: deg
min: -45.0
max: 45.0
decimal: 1
SENS_BOARD_Z_OFF:
description:
short: Board rotation Z (yaw) offset
long: |-
Rotation from flight controller board to vehicle body frame.
Has to be set manually (not set by any calibration).
type: float
default: 0.0
min: -45.0
max: 45.0
decimal: 1
unit: deg
SENS_EN_THERMAL:
description:
short: Thermal control of sensor temperature
category: System
type: enum
values:
-1: Thermal control unavailable
0: Thermal control off
1: Thermal control enabled
default: -1
SENS_EXT_I2C_PRB:
description:
short: External I2C probe
long: Probe for optional external I2C devices.
category: System
type: boolean
default: 1
SENS_IMU_MODE:
description:
short: Sensors hub IMU mode
category: System
type: enum
values:
0: Disabled
1: Publish primary IMU selection
default: 1
reboot_required: true
SENS_INT_BARO_EN:
description:
short: Enable internal barometers
long: For systems with an external barometer, this should be set to false
to make sure that the external is used.
category: System
type: boolean
default: 1
reboot_required: true

123
src/modules/sensors/sensor_params_flow.c
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@ -1,123 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012-2022 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
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* Optical flow rotation
*
* This parameter defines the yaw rotation of the optical flow relative to the vehicle body frame.
* Zero rotation is defined as X on flow board pointing towards front of vehicle.
*
* @value 0 No rotation
* @value 1 Yaw 45°
* @value 2 Yaw 90°
* @value 3 Yaw 135°
* @value 4 Yaw 180°
* @value 5 Yaw 225°
* @value 6 Yaw 270°
* @value 7 Yaw 315°
*
* @group Sensors
*/
PARAM_DEFINE_INT32(SENS_FLOW_ROT, 0);
/**
* Minimum height above ground when reliant on optical flow.
*
* This parameter defines the minimum distance from ground at which the optical flow sensor operates reliably.
* The sensor may be usable below this height, but accuracy will progressively reduce to loss of focus.
*
* @unit m
* @min 0.0
* @max 1.0
* @increment 0.1
* @decimal 2
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_FLOW_MINHGT, 0.08f);
/**
* Maximum height above ground when reliant on optical flow.
*
* This parameter defines the maximum distance from ground at which the optical flow sensor operates reliably.
* The height setpoint will be limited to be no greater than this value when the navigation system
* is completely reliant on optical flow data and the height above ground estimate is valid.
* The sensor may be usable above this height, but accuracy will progressively degrade.
*
* @unit m
* @min 1.0
* @max 100.0
* @increment 0.1
* @decimal 2
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_FLOW_MAXHGT, 100.f);
/**
* Magnitude of maximum angular flow rate reliably measurable by the optical flow sensor.
*
* Optical flow data will not fused by the estimators if the magnitude of the flow rate exceeds this value and
* control loops will be instructed to limit ground speed such that the flow rate produced by movement over ground
* is less than 50% of this value.
*
* @unit rad/s
* @min 1.0
* @decimal 2
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_FLOW_MAXR, 8.f);
/**
* Optical flow max rate.
*
* Optical flow data maximum publication rate. This is an upper bound,
* actual optical flow data rate is still dependent on the sensor.
*
* @min 1
* @max 200
* @group Sensors
* @unit Hz
*
* @reboot_required true
*
*/
PARAM_DEFINE_FLOAT(SENS_FLOW_RATE, 70.0f);
/**
* Optical flow scale factor
*
* @min 0.5
* @max 1.5
* @decimal 2
* @group Sensors
*/
PARAM_DEFINE_FLOAT(SENS_FLOW_SCALE, 1.f);

85
src/modules/sensors/sensor_params_flow.yaml Normal file
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@ -0,0 +1,85 @@
module_name: sensors
parameters:
- group: Sensor Calibration
definitions:
SENS_FLOW_MINHGT:
description:
short: Minimum height above ground when reliant on optical flow
long: |-
This parameter defines the minimum distance from ground at which the optical flow sensor operates reliably.
The sensor may be usable below this height, but accuracy will progressively reduce to loss of focus.
type: float
default: 0.08
unit: m
min: 0.0
max: 1.0
increment: 0.1
decimal: 2
SENS_FLOW_MAXHGT:
description:
short: Maximum height above ground when reliant on optical flow
long: |-
This parameter defines the maximum distance from ground at which the optical flow sensor operates reliably.
The height setpoint will be limited to be no greater than this value when the navigation system
is completely reliant on optical flow data and the height above ground estimate is valid.
The sensor may be usable above this height, but accuracy will progressively degrade.
type: float
default: 100.0
unit: m
min: 1.0
max: 100.0
increment: 0.1
decimal: 2
SENS_FLOW_MAXR:
description:
short: Max angular flow rate measurable by sensor
long: |-
Magnitude of maximum angular flow rate reliably measurable by the optical flow sensor
Optical flow data will not fused by the estimators if the magnitude of the flow rate exceeds this value and
control loops will be instructed to limit ground speed such that the flow rate produced by movement over ground
is less than 50% of this value.
type: float
default: 8.0
unit: rad/s
min: 1.0
decimal: 2
- group: Sensors
definitions:
SENS_FLOW_ROT:
description:
short: Optical flow rotation
long: |-
This parameter defines the yaw rotation of the optical flow relative to the vehicle body frame.
Zero rotation is defined as X on flow board pointing towards front of vehicle.
type: enum
values:
0: No rotation
1: "Yaw 45\xB0"
2: "Yaw 90\xB0"
3: "Yaw 135\xB0"
4: "Yaw 180\xB0"
5: "Yaw 225\xB0"
6: "Yaw 270\xB0"
7: "Yaw 315\xB0"
default: 0
SENS_FLOW_RATE:
description:
short: Optical flow max rate
long: |-
Optical flow data maximum publication rate. This is an upper bound,
actual optical flow data rate is still dependent on the sensor.
type: float
default: 70.0
min: 1
max: 200
unit: Hz
reboot_required: true
SENS_FLOW_SCALE:
description:
short: Optical flow scale factor
type: float
default: 1.0
min: 0.5
max: 1.5
decimal: 2

129
src/modules/sensors/sensor_params_mag.c
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@ -1,129 +0,0 @@
/****************************************************************************
*
* 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
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* Bitfield selecting mag sides for calibration
*
* If set to two side calibration, only the offsets are estimated, the scale
* calibration is left unchanged. Thus an initial six side calibration is
* recommended.
*
* Bits:
* ORIENTATION_TAIL_DOWN = 1
* ORIENTATION_NOSE_DOWN = 2
* ORIENTATION_LEFT = 4
* ORIENTATION_RIGHT = 8
* ORIENTATION_UPSIDE_DOWN = 16
* ORIENTATION_RIGHTSIDE_UP = 32
*
* @min 34
* @max 63
* @value 34 Two side calibration
* @value 38 Three side calibration
* @value 63 Six side calibration
* @group Sensors
*/
PARAM_DEFINE_INT32(SENS_MAG_SIDES, 63);
/**
* For legacy QGC support only
*
* Use SENS_MAG_SIDES instead
*
* @group Sensors
* @category Developer
*/
PARAM_DEFINE_INT32(CAL_MAG_SIDES, 63);
/**
* Type of magnetometer compensation
*
* @value 0 Disabled
* @value 1 Throttle-based compensation
* @value 2 Current-based compensation (battery_status instance 0)
* @value 3 Current-based compensation (battery_status instance 1)
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_MAG_COMP_TYP, 0);
/**
* Automatically set external rotations.
*
* During calibration attempt to automatically determine the rotation of external magnetometers.
*
* @boolean
* @group Sensors
*/
PARAM_DEFINE_INT32(SENS_MAG_AUTOROT, 1);
/**
* Magnetometer max rate.
*
* Magnetometer data maximum publication rate. This is an upper bound,
* actual magnetometer data rate is still dependent on the sensor.
*
* @min 1
* @max 200
* @group Sensors
* @unit Hz
*
* @reboot_required true
*
*/
PARAM_DEFINE_FLOAT(SENS_MAG_RATE, 15.0f);
/**
* Sensors hub mag mode
*
* @value 0 Publish all magnetometers
* @value 1 Publish primary magnetometer
*
* @category system
* @reboot_required true
* @group Sensors
*/
PARAM_DEFINE_INT32(SENS_MAG_MODE, 1);
/**
* Magnetometer auto calibration
*
* Automatically initialize magnetometer calibration from bias estimate if available.
*
* @boolean
*
* @category system
* @group Sensors
*/
PARAM_DEFINE_INT32(SENS_MAG_AUTOCAL, 1);

84
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module_name: sensors
parameters:
- group: Sensor Calibration
definitions:
CAL_MAG_COMP_TYP:
description:
short: Type of magnetometer compensation
category: System
type: enum
values:
0: Disabled
1: Throttle-based compensation
2: Current-based compensation (battery_status instance 0)
3: Current-based compensation (battery_status instance 1)
default: 0
- group: Sensors
definitions:
SENS_MAG_SIDES:
description:
short: Bitfield selecting mag sides for calibration
long: |-
If set to two side calibration, only the offsets are estimated, the scale
calibration is left unchanged. Thus an initial six side calibration is
recommended.
Bits:
ORIENTATION_TAIL_DOWN = 1
ORIENTATION_NOSE_DOWN = 2
ORIENTATION_LEFT = 4
ORIENTATION_RIGHT = 8
ORIENTATION_UPSIDE_DOWN = 16
ORIENTATION_RIGHTSIDE_UP = 32
type: enum
values:
34: Two side calibration
38: Three side calibration
63: Six side calibration
default: 63
min: 34
max: 63
CAL_MAG_SIDES:
description:
short: For legacy QGC support only
long: Use SENS_MAG_SIDES instead
category: Developer
type: int32
default: 63
SENS_MAG_AUTOROT:
description:
short: Automatically set external rotations
long: During calibration attempt to automatically determine the rotation of
external magnetometers.
type: boolean
default: 1
SENS_MAG_RATE:
description:
short: Magnetometer max rate
long: |-
Magnetometer data maximum publication rate. This is an upper bound,
actual magnetometer data rate is still dependent on the sensor.
type: float
default: 15.0
min: 1
max: 200
unit: Hz
reboot_required: true
SENS_MAG_MODE:
description:
short: Sensors hub mag mode
category: System
type: enum
values:
0: Publish all magnetometers
1: Publish primary magnetometer
default: 1
reboot_required: true
SENS_MAG_AUTOCAL:
description:
short: Magnetometer auto calibration
long: Automatically initialize magnetometer calibration from bias estimate
if available.
category: System
type: boolean
default: 1

46
src/modules/sensors/vehicle_acceleration/imu_accel_parameters.c
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/****************************************************************************
*
* Copyright (c) 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
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* Low pass filter cutoff frequency for accel
*
* The cutoff frequency for the 2nd order butterworth filter on the primary accelerometer.
* This only affects the signal sent to the controllers, not the estimators. 0 disables the filter.
*
* @min 0
* @max 1000
* @unit Hz
* @reboot_required true
* @group Sensors
*/
PARAM_DEFINE_FLOAT(IMU_ACCEL_CUTOFF, 30.0f);

67
src/modules/sensors/vehicle_air_data/params.c
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/****************************************************************************
*
* Copyright (c) 2012-2022 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
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* QNH for barometer
*
* @min 500
* @max 1500
* @group Sensors
* @unit hPa
*/
PARAM_DEFINE_FLOAT(SENS_BARO_QNH, 1013.25f);
/**
* Baro max rate.
*
* Barometric air data maximum publication rate. This is an upper bound,
* actual barometric data rate is still dependent on the sensor.
*
* @min 1
* @max 200
* @group Sensors
* @unit Hz
*/
PARAM_DEFINE_FLOAT(SENS_BARO_RATE, 20.0f);
/**
* Barometer auto calibration
*
* Automatically calibrate barometer based on the GNSS height
*
* @boolean
*
* @category system
* @group Sensors
*/
PARAM_DEFINE_INT32(SENS_BAR_AUTOCAL, 1);

222
src/modules/sensors/vehicle_angular_velocity/imu_gyro_parameters.c
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/****************************************************************************
*
* Copyright (c) 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
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* Notch filter frequency for gyro
*
* The center frequency for the 2nd order notch filter on the primary gyro.
* This filter can be enabled to avoid feedback amplification of structural resonances at a specific frequency.
* This only affects the signal sent to the controllers, not the estimators.
* Applies to both angular velocity and angular acceleration sent to the controllers.
* See "IMU_GYRO_NF0_BW" to set the bandwidth of the filter.
*
* A value of 0 disables the filter.
*
* @min 0
* @max 1000
* @unit Hz
* @increment 0.1
* @decimal 1
* @reboot_required false
* @group Sensors
*/
PARAM_DEFINE_FLOAT(IMU_GYRO_NF0_FRQ, 0.0f);
/**
* Notch filter bandwidth for gyro
*
* The frequency width of the stop band for the 2nd order notch filter on the primary gyro.
* See "IMU_GYRO_NF0_FRQ" to activate the filter and to set the notch frequency.
* Applies to both angular velocity and angular acceleration sent to the controllers.
*
* @min 0
* @max 100
* @unit Hz
* @increment 0.1
* @decimal 1
* @reboot_required false
* @group Sensors
*/
PARAM_DEFINE_FLOAT(IMU_GYRO_NF0_BW, 20.0f);
/**
* Notch filter 2 frequency for gyro
*
* The center frequency for the 2nd order notch filter on the primary gyro.
* This filter can be enabled to avoid feedback amplification of structural resonances at a specific frequency.
* This only affects the signal sent to the controllers, not the estimators.
* Applies to both angular velocity and angular acceleration sent to the controllers.
* See "IMU_GYRO_NF1_BW" to set the bandwidth of the filter.
*
* A value of 0 disables the filter.
*
* @min 0
* @max 1000
* @unit Hz
* @increment 0.1
* @decimal 1
* @reboot_required false
* @group Sensors
*/
PARAM_DEFINE_FLOAT(IMU_GYRO_NF1_FRQ, 0.0f);
/**
* Notch filter 1 bandwidth for gyro
*
* The frequency width of the stop band for the 2nd order notch filter on the primary gyro.
* See "IMU_GYRO_NF1_FRQ" to activate the filter and to set the notch frequency.
* Applies to both angular velocity and angular acceleration sent to the controllers.
*
* @min 0
* @max 100
* @unit Hz
* @increment 0.1
* @decimal 1
* @reboot_required false
* @group Sensors
*/
PARAM_DEFINE_FLOAT(IMU_GYRO_NF1_BW, 20.0f);
/**
* Low pass filter cutoff frequency for gyro
*
* The cutoff frequency for the 2nd order butterworth filter on the primary gyro.
* This only affects the angular velocity sent to the controllers, not the estimators.
* It applies also to the angular acceleration (D-Term filter), see IMU_DGYRO_CUTOFF.
*
* A value of 0 disables the filter.
*
* @min 0
* @max 1000
* @unit Hz
* @increment 0.1
* @decimal 1
* @reboot_required false
* @group Sensors
*/
PARAM_DEFINE_FLOAT(IMU_GYRO_CUTOFF, 40.0f);
/**
* Gyro control data maximum publication rate (inner loop rate)
*
* The maximum rate the gyro control data (vehicle_angular_velocity) will be
* allowed to publish at. This is the loop rate for the rate controller and outputs.
*
* Note: sensor data is always read and filtered at the full raw rate (eg commonly 8 kHz) regardless of this setting.
*
* @min 100
* @max 2000
* @value 100 100 Hz
* @value 250 250 Hz
* @value 400 400 Hz
* @value 800 800 Hz
* @value 1000 1000 Hz
* @value 2000 2000 Hz
* @unit Hz
* @reboot_required true
* @group Sensors
*/
PARAM_DEFINE_INT32(IMU_GYRO_RATEMAX, 400);
/**
* Cutoff frequency for angular acceleration (D-Term filter)
*
* The cutoff frequency for the 2nd order butterworth filter used on
* the time derivative of the measured angular velocity, also known as
* the D-term filter in the rate controller. The D-term uses the derivative of
* the rate and thus is the most susceptible to noise. Therefore, using
* a D-term filter allows to increase IMU_GYRO_CUTOFF, which
* leads to reduced control latency and permits to increase the P gains.
*
* A value of 0 disables the filter.
*
* @min 0
* @max 1000
* @unit Hz
* @increment 0.1
* @decimal 1
* @reboot_required false
* @group Sensors
*/
PARAM_DEFINE_FLOAT(IMU_DGYRO_CUTOFF, 20.0f);
/**
* IMU gyro dynamic notch filtering
*
* Enable bank of dynamically updating notch filters.
* Requires ESC RPM feedback or onboard FFT (IMU_GYRO_FFT_EN).
* @group Sensors
* @min 0
* @max 3
* @bit 0 ESC RPM
* @bit 1 FFT
*/
PARAM_DEFINE_INT32(IMU_GYRO_DNF_EN, 0);
/**
* IMU gyro ESC notch filter bandwidth
*
* Bandwidth per notch filter when using dynamic notch filtering with ESC RPM.
*
* @group Sensors
* @unit Hz
* @increment 0.1
* @decimal 1
* @min 5
* @max 30
*/
PARAM_DEFINE_FLOAT(IMU_GYRO_DNF_BW, 15.f);
/**
* IMU gyro dynamic notch filter harmonics
*
* ESC RPM number of harmonics (multiples of RPM) for ESC RPM dynamic notch filtering.
*
* @group Sensors
* @min 1
* @max 7
*/
PARAM_DEFINE_INT32(IMU_GYRO_DNF_HMC, 3);
/**
* IMU gyro dynamic notch filter minimum frequency
*
* Minimum notch filter frequency in Hz.
*
* @group Sensors
* @unit Hz
* @increment 0.1
* @decimal 1
*/
PARAM_DEFINE_FLOAT(IMU_GYRO_DNF_MIN, 25.f);

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src/modules/sensors/vehicle_imu/imu_parameters.c
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/****************************************************************************
*
* Copyright (c) 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
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* IMU integration rate.
*
* The rate at which raw IMU data is integrated to produce delta angles and delta velocities.
* Recommended to set this to a multiple of the estimator update period (currently 10 ms for ekf2).
*
* @min 100
* @max 1000
* @value 100 100 Hz
* @value 200 200 Hz
* @value 250 250 Hz
* @value 400 400 Hz
* @unit Hz
* @reboot_required true
* @group Sensors
*/
PARAM_DEFINE_INT32(IMU_INTEG_RATE, 200);
/**
* IMU auto calibration
*
* Automatically initialize IMU (accel/gyro) calibration from bias estimates if available.
*
* @boolean
*
* @category system
* @group Sensors
*/
PARAM_DEFINE_INT32(SENS_IMU_AUTOCAL, 1);
/**
* IMU notify clipping
*
* Notify the user if the IMU is clipping
*
* @boolean
*
* @category system
* @group Sensors
*/
PARAM_DEFINE_INT32(SENS_IMU_CLPNOTI, 1);