Thermal Calibration - add parameter required to control minimum starting temperature

src/modules/events/temperature_calibration/accel.cpp

@@ -44,8 +44,8 @@
 #include <uORB/topics/sensor_accel.h>
 #include <mathlib/mathlib.h>
 
-TemperatureCalibrationAccel::TemperatureCalibrationAccel(float min_temperature_rise)
-	: TemperatureCalibrationCommon(min_temperature_rise)
+TemperatureCalibrationAccel::TemperatureCalibrationAccel(float min_temperature_rise, float min_start_temperature)
+	: TemperatureCalibrationCommon(min_temperature_rise, min_start_temperature)
 {
 
 	//init subscriptions

src/modules/events/temperature_calibration/accel.h

@@ -39,7 +39,7 @@
 class TemperatureCalibrationAccel : public TemperatureCalibrationCommon<3, 3>
 {
 public:
-	TemperatureCalibrationAccel(float min_temperature_rise);
+	TemperatureCalibrationAccel(float min_temperature_rise, float min_start_temperature);
 	virtual ~TemperatureCalibrationAccel();
 
 	/**

src/modules/events/temperature_calibration/baro.cpp

@@ -44,8 +44,8 @@
 #include <uORB/topics/sensor_baro.h>
 #include <mathlib/mathlib.h>
 
-TemperatureCalibrationBaro::TemperatureCalibrationBaro(float min_temperature_rise)
-	: TemperatureCalibrationCommon(min_temperature_rise)
+TemperatureCalibrationBaro::TemperatureCalibrationBaro(float min_temperature_rise, float min_start_temperature)
+	: TemperatureCalibrationCommon(min_temperature_rise, min_start_temperature)
 {
 
 	//init subscriptions

src/modules/events/temperature_calibration/baro.h

@@ -42,7 +42,7 @@
 class TemperatureCalibrationBaro : public TemperatureCalibrationCommon<1, POLYFIT_ORDER>
 {
 public:
-	TemperatureCalibrationBaro(float min_temperature_rise);
+	TemperatureCalibrationBaro(float min_temperature_rise, float min_start_temperature);
 	virtual ~TemperatureCalibrationBaro();
 
 	/**

src/modules/events/temperature_calibration/common.h

@@ -53,8 +53,8 @@
 class TemperatureCalibrationBase
 {
 public:
-	TemperatureCalibrationBase(float min_temperature_rise)
-		: _min_temperature_rise(min_temperature_rise) {}
+	TemperatureCalibrationBase(float min_temperature_rise, float min_start_temperature)
+		: _min_temperature_rise(min_temperature_rise), _min_start_temperature(min_start_temperature) {}
 
 	virtual ~TemperatureCalibrationBase() {}
 
@@ -85,6 +85,7 @@ protected:
 	inline int set_parameter(const char *format_str, unsigned index, const void *value);
 
 	float _min_temperature_rise; ///< minimum difference in temperature before the process finishes
+	float _min_start_temperature; ///< minimum temperature before the process starts
 };
 
 
@@ -110,8 +111,8 @@ template <int Dim, int PolyfitOrder>
 class TemperatureCalibrationCommon : public TemperatureCalibrationBase
 {
 public:
-	TemperatureCalibrationCommon(float min_temperature_rise)
-		: TemperatureCalibrationBase(min_temperature_rise) {}
+	TemperatureCalibrationCommon(float min_temperature_rise, float min_start_temperature)
+		: TemperatureCalibrationBase(min_temperature_rise, min_start_temperature) {}
 
 	virtual ~TemperatureCalibrationCommon() {}
 

src/modules/events/temperature_calibration/gyro.cpp

@@ -43,8 +43,8 @@
 #include <uORB/topics/sensor_gyro.h>
 #include "gyro.h"
 
-TemperatureCalibrationGyro::TemperatureCalibrationGyro(float min_temperature_rise, int gyro_subs[], int num_gyros)
-	: TemperatureCalibrationCommon(min_temperature_rise)
+TemperatureCalibrationGyro::TemperatureCalibrationGyro(float min_temperature_rise, float min_start_temperature, int gyro_subs[], int num_gyros)
+	: TemperatureCalibrationCommon(min_temperature_rise, min_start_temperature)
 {
 	for (int i = 0; i < num_gyros; ++i) {
 		_sensor_subs[i] = gyro_subs[i];

src/modules/events/temperature_calibration/gyro.h

@@ -39,7 +39,7 @@
 class TemperatureCalibrationGyro : public TemperatureCalibrationCommon<3, 3>
 {
 public:
-	TemperatureCalibrationGyro(float min_temperature_rise, int gyro_subs[], int num_gyros);
+	TemperatureCalibrationGyro(float min_temperature_rise, float min_start_temperature, int gyro_subs[], int num_gyros);
 	virtual ~TemperatureCalibrationGyro() {}
 
 	/**

src/modules/events/temperature_calibration/task.cpp

@@ -127,13 +127,16 @@ void TemperatureCalibration::task_main()
 	param_get(param_find("SYS_CAL_TDEL"), &min_temp_rise);
 	PX4_INFO("Waiting for %i degrees difference in sensor temperature", min_temp_rise);
 
+	int32_t min_start_temp = 5;
+	param_get(param_find("SYS_CAL_TMIN"), &min_start_temp);
+
 	//init calibrators
 	TemperatureCalibrationBase *calibrators[3];
 	bool error_reported[3] = {};
 	int num_calibrators = 0;
 
 	if (_accel) {
-		calibrators[num_calibrators] = new TemperatureCalibrationAccel(min_temp_rise);
+		calibrators[num_calibrators] = new TemperatureCalibrationAccel(min_temp_rise,min_start_temp);
 
 		if (calibrators[num_calibrators]) {
 			++num_calibrators;
@@ -144,7 +147,7 @@ void TemperatureCalibration::task_main()
 	}
 
 	if (_baro) {
-		calibrators[num_calibrators] = new TemperatureCalibrationBaro(min_temp_rise);
+		calibrators[num_calibrators] = new TemperatureCalibrationBaro(min_temp_rise, min_start_temp);
 
 		if (calibrators[num_calibrators]) {
 			++num_calibrators;
@@ -155,7 +158,7 @@ void TemperatureCalibration::task_main()
 	}
 
 	if (_gyro) {
-		calibrators[num_calibrators] = new TemperatureCalibrationGyro(min_temp_rise, gyro_sub, num_gyro);
+		calibrators[num_calibrators] = new TemperatureCalibrationGyro(min_temp_rise, min_start_temp, gyro_sub, num_gyro);
 
 		if (calibrators[num_calibrators]) {
 			++num_calibrators;

src/modules/systemlib/system_params.c

@@ -221,3 +221,13 @@ PARAM_DEFINE_INT32(SYS_CAL_BARO, 0);
  * @group System
  */
 PARAM_DEFINE_INT32(SYS_CAL_DELT, 24);
+
+/**
+ * Minimum starting temperature for thermal calibration
+ *
+ * Temperature calibration for each sensor will ignore data if the temperature is lower than the value set by SYS_CAL_TMIN.
+ *
+ * @unit deg C
+ * @group System
+ */
+PARAM_DEFINE_INT32(SYS_CAL_TMIN, 5);