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calibration params: avoid using NaN as default

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- NaN is not supported by JSON, and leads to parsing failure in QGC.
 - fixes https://github.com/PX4/PX4-Autopilot/issues/18095
This commit is contained in:
Beat Küng
2021-08-19 11:29:26 -04:00
committed by GitHub
parent 507cce78d5
commit c4b91c8558
18 changed files with 72 additions and 18 deletions
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src/lib/sensor_calibration/Accelerometer.cpp
+14 -2
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@@ -210,7 +210,14 @@ void Accelerometer::ParametersUpdate()
}
// CAL_ACCx_TEMP
set_temperature(GetCalibrationParamFloat(SensorString(), "TEMP", _calibration_index));
float cal_temp = GetCalibrationParamFloat(SensorString(), "TEMP", _calibration_index);
if (cal_temp > TEMPERATURE_INVALID) {
set_temperature(cal_temp);
} else {
set_temperature(NAN);
}
// CAL_ACCx_OFF{X,Y,Z}
set_offset(GetCalibrationParamsVector3f(SensorString(), "OFF", _calibration_index));
@@ -263,7 +270,12 @@ bool Accelerometer::ParametersSave()
success &= SetCalibrationParam(SensorString(), "ROT", _calibration_index, -1);
}
success &= SetCalibrationParam(SensorString(), "TEMP", _calibration_index, _temperature);
if (PX4_ISFINITE(_temperature)) {
success &= SetCalibrationParam(SensorString(), "TEMP", _calibration_index, _temperature);
} else {
success &= SetCalibrationParam(SensorString(), "TEMP", _calibration_index, TEMPERATURE_INVALID);
}
return success;
}
src/lib/sensor_calibration/Accelerometer.hpp
+2
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@@ -92,6 +92,8 @@ public:
void SensorCorrectionsUpdate(bool force = false);
private:
static constexpr float TEMPERATURE_INVALID = -1000.f;
uORB::Subscription _sensor_correction_sub{ORB_ID(sensor_correction)};
Rotation _rotation_enum{ROTATION_NONE};
src/lib/sensor_calibration/Gyroscope.cpp
+14 -2
View File
@@ -195,7 +195,14 @@ void Gyroscope::ParametersUpdate()
}
// CAL_GYROx_TEMP
set_temperature(GetCalibrationParamFloat(SensorString(), "TEMP", _calibration_index));
float cal_temp = GetCalibrationParamFloat(SensorString(), "TEMP", _calibration_index);
if (cal_temp > TEMPERATURE_INVALID) {
set_temperature(cal_temp);
} else {
set_temperature(NAN);
}
// CAL_GYROx_OFF{X,Y,Z}
set_offset(GetCalibrationParamsVector3f(SensorString(), "OFF", _calibration_index));
@@ -243,7 +250,12 @@ bool Gyroscope::ParametersSave()
success &= SetCalibrationParam(SensorString(), "ROT", _calibration_index, -1);
}
success &= SetCalibrationParam(SensorString(), "TEMP", _calibration_index, _temperature);
if (PX4_ISFINITE(_temperature)) {
success &= SetCalibrationParam(SensorString(), "TEMP", _calibration_index, _temperature);
} else {
success &= SetCalibrationParam(SensorString(), "TEMP", _calibration_index, TEMPERATURE_INVALID);
}
return success;
}
src/lib/sensor_calibration/Gyroscope.hpp
+2
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@@ -96,6 +96,8 @@ public:
void SensorCorrectionsUpdate(bool force = false);
private:
static constexpr float TEMPERATURE_INVALID = -1000.f;
uORB::Subscription _sensor_correction_sub{ORB_ID(sensor_correction)};
Rotation _rotation_enum{ROTATION_NONE};
src/lib/sensor_calibration/Magnetometer.cpp
+14 -2
View File
@@ -195,7 +195,14 @@ void Magnetometer::ParametersUpdate()
}
// CAL_MAGx_TEMP
set_temperature(GetCalibrationParamFloat(SensorString(), "TEMP", _calibration_index));
float cal_temp = GetCalibrationParamFloat(SensorString(), "TEMP", _calibration_index);
if (cal_temp > TEMPERATURE_INVALID) {
set_temperature(cal_temp);
} else {
set_temperature(NAN);
}
// CAL_MAGx_OFF{X,Y,Z}
set_offset(GetCalibrationParamsVector3f(SensorString(), "OFF", _calibration_index));
@@ -263,7 +270,12 @@ bool Magnetometer::ParametersSave()
success &= SetCalibrationParam(SensorString(), "ROT", _calibration_index, -1);
}
success &= SetCalibrationParam(SensorString(), "TEMP", _calibration_index, _temperature);
if (PX4_ISFINITE(_temperature)) {
success &= SetCalibrationParam(SensorString(), "TEMP", _calibration_index, _temperature);
} else {
success &= SetCalibrationParam(SensorString(), "TEMP", _calibration_index, TEMPERATURE_INVALID);
}
return success;
}
src/lib/sensor_calibration/Magnetometer.hpp
+2
View File
@@ -100,6 +100,8 @@ public:
void UpdatePower(float power) { _power = power; }
private:
static constexpr float TEMPERATURE_INVALID = -1000.f;
Rotation _rotation_enum{ROTATION_NONE};
matrix::Dcmf _rotation;