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thermal calibrtation: do not calibrate sensor without temperature sensor

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This commit is contained in:
Nicolas MARTIN 2020-09-02 13:52:08 +02:00 committed by Daniel Agar
parent 71db0903a9
commit cd3db45d27
4 changed files with 51 additions and 0 deletions
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15
src/modules/temperature_compensation/temperature_calibration/accel.cpp
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@ -87,6 +87,13 @@ int TemperatureCalibrationAccel::update_sensor_instance(PerSensorData &data, int
return 0;
}
if (PX4_ISFINITE(accel_data.temperature)) {
data.has_valid_temperature = true;
} else {
return 0;
}
data.device_id = accel_data.device_id;
data.sensor_sample_filt[0] = accel_data.x;
@ -167,6 +174,14 @@ int TemperatureCalibrationAccel::finish()
int TemperatureCalibrationAccel::finish_sensor_instance(PerSensorData &data, int sensor_index)
{
if (!data.has_valid_temperature) {
PX4_WARN("Result Accel %d does not have a valid temperature sensor", sensor_index);
uint32_t param = 0;
set_parameter("TC_A%d_ID", sensor_index, &param);
return 0;
}
if (!data.hot_soaked || data.tempcal_complete) {
return 0;
}

15
src/modules/temperature_compensation/temperature_calibration/baro.cpp
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@ -87,6 +87,13 @@ int TemperatureCalibrationBaro::update_sensor_instance(PerSensorData &data, int
return 0;
}
if (PX4_ISFINITE(baro_data.temperature)) {
data.has_valid_temperature = true;
} else {
return 0;
}
data.device_id = baro_data.device_id;
data.sensor_sample_filt[0] = 100.0f * baro_data.pressure; // convert from hPA to Pa
@ -163,6 +170,14 @@ int TemperatureCalibrationBaro::finish()
int TemperatureCalibrationBaro::finish_sensor_instance(PerSensorData &data, int sensor_index)
{
if (!data.has_valid_temperature) {
PX4_WARN("Result baro %d does not have a valid temperature sensor", sensor_index);
uint32_t param = 0;
set_parameter("TC_B%d_ID", sensor_index, &param);
return 0;
}
if (!data.hot_soaked || data.tempcal_complete) {
return 0;
}

5
src/modules/temperature_compensation/temperature_calibration/common.h
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@ -146,6 +146,10 @@ public:
float min_diff = _min_temperature_rise;
for (unsigned uorb_index = 0; uorb_index < _num_sensor_instances; uorb_index++) {
if (!_data[uorb_index].has_valid_temperature) {
return 110;
}
float cur_diff = _data[uorb_index].high_temp - _data[uorb_index].low_temp;
if (cur_diff < min_diff) {
@ -171,6 +175,7 @@ protected:
/// verified and the starting temperature set
bool hot_soaked = false; ///< true when the sensor has achieved the specified temperature increase
bool tempcal_complete = false; ///< true when the calibration has been completed
bool has_valid_temperature = false; ///< true if this sensor has temperature sensor
float low_temp = 0.f; ///< low temperature recorded at start of calibration (deg C)
float high_temp = 0.f; ///< highest temperature recorded during calibration (deg C)
float ref_temp = 0.f; /**< calibration reference temperature, nominally in the middle of the

16
src/modules/temperature_compensation/temperature_calibration/gyro.cpp
View File

@ -74,6 +74,13 @@ int TemperatureCalibrationGyro::update_sensor_instance(PerSensorData &data, int
return 0;
}
if (PX4_ISFINITE(gyro_data.temperature)) {
data.has_valid_temperature = true;
} else {
return 0;
}
data.device_id = gyro_data.device_id;
data.sensor_sample_filt[0] = gyro_data.x;
@ -154,6 +161,15 @@ int TemperatureCalibrationGyro::finish()
int TemperatureCalibrationGyro::finish_sensor_instance(PerSensorData &data, int sensor_index)
{
if (!data.has_valid_temperature) {
PX4_WARN("Result Gyro %d does not have a valid temperature sensor", sensor_index);
data.tempcal_complete = true;
uint32_t param = 0;
set_parameter("TC_G%d_ID", sensor_index, &param);
return 0;
}
if (!data.hot_soaked || data.tempcal_complete) {
return 0;
}