From e1e3c9fca9cd5fc0dbd527d6d41071c09e02fec6 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Thu, 26 Oct 2017 16:02:30 -0400 Subject: [PATCH] sensors split accel/gyro/mag calibration parameters --- src/modules/sensors/sensor_params.c | 897 +------------------- src/modules/sensors/sensor_params_accel.c | 186 ++++ src/modules/sensors/sensor_params_battery.c | 116 +++ src/modules/sensors/sensor_params_gyro.c | 186 ++++ src/modules/sensors/sensor_params_mag.c | 431 ++++++++++ 5 files changed, 934 insertions(+), 882 deletions(-) create mode 100644 src/modules/sensors/sensor_params_accel.c create mode 100644 src/modules/sensors/sensor_params_battery.c create mode 100644 src/modules/sensors/sensor_params_gyro.c create mode 100644 src/modules/sensors/sensor_params_mag.c diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index cc3f2bf83c..03967fa9f7 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -31,775 +31,6 @@ * ****************************************************************************/ -/** - * @file sensor_params.c - * - * Parameters defined by the sensors task. - * - * @author Lorenz Meier - * @author Julian Oes - * @author Thomas Gubler - */ - -/** - * ID of the Gyro that the calibration is for. - * - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_GYRO0_ID, 0); - -/** - * Gyro X-axis offset - * - * @min -10.0 - * @max 10.0 - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_GYRO0_XOFF, 0.0f); - -/** - * Gyro Y-axis offset - * - * @min -10.0 - * @max 10.0 - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_GYRO0_YOFF, 0.0f); - -/** - * Gyro Z-axis offset - * - * @min -5.0 - * @max 5.0 - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_GYRO0_ZOFF, 0.0f); - -/** - * Gyro X-axis scaling factor - * - * @min -1.5 - * @max 1.5 - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_GYRO0_XSCALE, 1.0f); - -/** - * Gyro Y-axis scaling factor - * - * @min -1.5 - * @max 1.5 - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_GYRO0_YSCALE, 1.0f); - -/** - * Gyro Z-axis scaling factor - * - * @min -1.5 - * @max 1.5 - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_GYRO0_ZSCALE, 1.0f); - -/** - * ID of Magnetometer the calibration is for. - * - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_MAG0_ID, 0); - -/** - * Rotation of magnetometer 0 relative to airframe. - * - * An internal magnetometer will force a value of -1, so a GCS - * should only attempt to configure the rotation if the value is - * greater than or equal to zero. - * - * @value -1 Internal mag - * @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° - * - * @min -1 - * @max 30 - * @reboot_required true - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_MAG0_ROT, -1); - -/** - * Magnetometer X-axis offset - * - * @min -500.0 - * @max 500.0 - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_MAG0_XOFF, 0.0f); - -/** - * Magnetometer Y-axis offset - * - * @min -500.0 - * @max 500.0 - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_MAG0_YOFF, 0.0f); - -/** - * Magnetometer Z-axis offset - * - * @min -500.0 - * @max 500.0 - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_MAG0_ZOFF, 0.0f); - -/** - * Magnetometer X-axis scaling factor - * - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_MAG0_XSCALE, 1.0f); - -/** - * Magnetometer Y-axis scaling factor - * - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_MAG0_YSCALE, 1.0f); - -/** - * Magnetometer Z-axis scaling factor - * - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_MAG0_ZSCALE, 1.0f); - -/** - * ID of the Accelerometer that the calibration is for. - * - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_ACC0_ID, 0); - -/** - * Accelerometer X-axis offset - * - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_ACC0_XOFF, 0.0f); - -/** - * Accelerometer Y-axis offset - * - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_ACC0_YOFF, 0.0f); - -/** - * Accelerometer Z-axis offset - * - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_ACC0_ZOFF, 0.0f); - -/** - * Accelerometer X-axis scaling factor - * - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_ACC0_XSCALE, 1.0f); - -/** - * Accelerometer Y-axis scaling factor - * - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_ACC0_YSCALE, 1.0f); - -/** - * Accelerometer Z-axis scaling factor - * - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_ACC0_ZSCALE, 1.0f); - -/** - * ID of the Gyro that the calibration is for. - * - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_GYRO1_ID, 0); - -/** - * Gyro X-axis offset - * - * @min -10.0 - * @max 10.0 - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_GYRO1_XOFF, 0.0f); - -/** - * Gyro Y-axis offset - * - * @min -10.0 - * @max 10.0 - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_GYRO1_YOFF, 0.0f); - -/** - * Gyro Z-axis offset - * - * @min -5.0 - * @max 5.0 - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_GYRO1_ZOFF, 0.0f); - -/** - * Gyro X-axis scaling factor - * - * @min -1.5 - * @max 1.5 - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_GYRO1_XSCALE, 1.0f); - -/** - * Gyro Y-axis scaling factor - * - * @min -1.5 - * @max 1.5 - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_GYRO1_YSCALE, 1.0f); - -/** - * Gyro Z-axis scaling factor - * - * @min -1.5 - * @max 1.5 - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_GYRO1_ZSCALE, 1.0f); - -/** - * ID of Magnetometer the calibration is for. - * - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_MAG1_ID, 0); - -/** - * Rotation of magnetometer 1 relative to airframe. - * - * An internal magnetometer will force a value of -1, so a GCS - * should only attempt to configure the rotation if the value is - * greater than or equal to zero. - * - * @value -1 Internal mag - * @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° - * - * @min -1 - * @max 30 - * @reboot_required true - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_MAG1_ROT, -1); - -/** - * Magnetometer X-axis offset - * - * @min -500.0 - * @max 500.0 - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_MAG1_XOFF, 0.0f); - -/** - * Magnetometer Y-axis offset - * - * @min -500.0 - * @max 500.0 - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_MAG1_YOFF, 0.0f); - -/** - * Magnetometer Z-axis offset - * - * @min -500.0 - * @max 500.0 - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_MAG1_ZOFF, 0.0f); - -/** - * Magnetometer X-axis scaling factor - * - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_MAG1_XSCALE, 1.0f); - -/** - * Magnetometer Y-axis scaling factor - * - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_MAG1_YSCALE, 1.0f); - -/** - * Magnetometer Z-axis scaling factor - * - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_MAG1_ZSCALE, 1.0f); - -/** - * ID of the Accelerometer that the calibration is for. - * - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_ACC1_ID, 0); - -/** - * Accelerometer X-axis offset - * - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_ACC1_XOFF, 0.0f); - -/** - * Accelerometer Y-axis offset - * - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_ACC1_YOFF, 0.0f); - -/** - * Accelerometer Z-axis offset - * - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_ACC1_ZOFF, 0.0f); - -/** - * Accelerometer X-axis scaling factor - * - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_ACC1_XSCALE, 1.0f); - -/** - * Accelerometer Y-axis scaling factor - * - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_ACC1_YSCALE, 1.0f); - -/** - * Accelerometer Z-axis scaling factor - * - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_ACC1_ZSCALE, 1.0f); - -/** - * ID of the Gyro that the calibration is for. - * - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_GYRO2_ID, 0); - -/** - * Gyro X-axis offset - * - * @min -10.0 - * @max 10.0 - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_GYRO2_XOFF, 0.0f); - -/** - * Gyro Y-axis offset - * - * @min -10.0 - * @max 10.0 - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_GYRO2_YOFF, 0.0f); - -/** - * Gyro Z-axis offset - * - * @min -5.0 - * @max 5.0 - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_GYRO2_ZOFF, 0.0f); - -/** - * Gyro X-axis scaling factor - * - * @min -1.5 - * @max 1.5 - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_GYRO2_XSCALE, 1.0f); - -/** - * Gyro Y-axis scaling factor - * - * @min -1.5 - * @max 1.5 - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_GYRO2_YSCALE, 1.0f); - -/** - * Gyro Z-axis scaling factor - * - * @min -1.5 - * @max 1.5 - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_GYRO2_ZSCALE, 1.0f); - -/** - * ID of Magnetometer the calibration is for. - * - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_MAG2_ID, 0); - -/** - * Rotation of magnetometer 2 relative to airframe. - * - * An internal magnetometer will force a value of -1, so a GCS - * should only attempt to configure the rotation if the value is - * greater than or equal to zero. - * - * @value -1 Internal mag - * @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° - * - * @min -1 - * @max 30 - * @reboot_required true - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_MAG2_ROT, -1); - -/** - * Magnetometer X-axis offset - * - * @min -500.0 - * @max 500.0 - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_MAG2_XOFF, 0.0f); - -/** - * Magnetometer Y-axis offset - * - * @min -500.0 - * @max 500.0 - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_MAG2_YOFF, 0.0f); - -/** - * Magnetometer Z-axis offset - * - * @min -500.0 - * @max 500.0 - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_MAG2_ZOFF, 0.0f); - -/** - * Magnetometer X-axis scaling factor - * - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_MAG2_XSCALE, 1.0f); - -/** - * Magnetometer Y-axis scaling factor - * - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_MAG2_YSCALE, 1.0f); - -/** - * Magnetometer Z-axis scaling factor - * - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_MAG2_ZSCALE, 1.0f); - -/** - * ID of the Accelerometer that the calibration is for. - * - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_ACC2_ID, 0); - -/** - * Accelerometer X-axis offset - * - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_ACC2_XOFF, 0.0f); - -/** - * Accelerometer Y-axis offset - * - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_ACC2_YOFF, 0.0f); - -/** - * Accelerometer Z-axis offset - * - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_ACC2_ZOFF, 0.0f); - -/** - * Accelerometer X-axis scaling factor - * - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_ACC2_XSCALE, 1.0f); - -/** - * Accelerometer Y-axis scaling factor - * - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_ACC2_YSCALE, 1.0f); - -/** - * Accelerometer Z-axis scaling factor - * - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_ACC2_ZSCALE, 1.0f); - -/** - * ID of Magnetometer the calibration is for. - * - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_MAG3_ID, 0); - -/** - * Rotation of magnetometer 2 relative to airframe. - * - * An internal magnetometer will force a value of -1, so a GCS - * should only attempt to configure the rotation if the value is - * greater than or equal to zero. - * - * @value -1 Internal mag - * @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° - * - * @min -1 - * @max 30 - * @reboot_required true - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_MAG3_ROT, -1); - -/** - * Magnetometer X-axis offset - * - * @min -500.0 - * @max 500.0 - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_MAG3_XOFF, 0.0f); - -/** - * Magnetometer Y-axis offset - * - * @min -500.0 - * @max 500.0 - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_MAG3_YOFF, 0.0f); - -/** - * Magnetometer Z-axis offset - * - * @min -500.0 - * @max 500.0 - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_MAG3_ZOFF, 0.0f); - -/** - * Magnetometer X-axis scaling factor - * - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_MAG3_XSCALE, 1.0f); - -/** - * Magnetometer Y-axis scaling factor - * - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_MAG3_YSCALE, 1.0f); - -/** - * Magnetometer Z-axis scaling factor - * - * @group Sensor Calibration - */ -PARAM_DEFINE_FLOAT(CAL_MAG3_ZSCALE, 1.0f); - - -/** - * Primary accel ID - * - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_ACC_PRIME, 0); - -/** - * Primary gyro ID - * - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_GYRO_PRIME, 0); - -/** - * Primary mag ID - * - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_MAG_PRIME, 0); - -/** - * Bitfield selecting mag sides for calibration - * - * DETECT_ORIENTATION_TAIL_DOWN = 1 - * DETECT_ORIENTATION_NOSE_DOWN = 2 - * DETECT_ORIENTATION_LEFT = 4 - * DETECT_ORIENTATION_RIGHT = 8 - * DETECT_ORIENTATION_UPSIDE_DOWN = 16 - * DETECT_ORIENTATION_RIGHTSIDE_UP = 32 - * - * @min 34 - * @max 63 - * @value 34 Two side calibration - * @value 38 Three side calibration - * @value 63 Six side calibration - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_MAG_SIDES, 63); - /** * Primary baro ID * @@ -854,12 +85,11 @@ PARAM_DEFINE_FLOAT(SENS_DPRES_ANSC, 0); * * @min 500 * @max 1500 - * @group Sensor Calibration + * @group Sensors * @unit hPa */ PARAM_DEFINE_FLOAT(SENS_BARO_QNH, 1013.25f); - /** * Board rotation * @@ -894,7 +124,7 @@ PARAM_DEFINE_FLOAT(SENS_BARO_QNH, 1013.25f); * * @reboot_required true * - * @group Sensor Calibration + * @group Sensors */ PARAM_DEFINE_INT32(SENS_BOARD_ROT, 0); @@ -916,7 +146,7 @@ PARAM_DEFINE_INT32(SENS_BOARD_ROT, 0); * * @reboot_required true * - * @group Sensor Calibration + * @group Sensors */ PARAM_DEFINE_INT32(SENS_FLOW_ROT, 6); @@ -927,7 +157,7 @@ PARAM_DEFINE_INT32(SENS_FLOW_ROT, 6); * to fine tune the board offset in the event of misalignment. * * @unit deg - * @group Sensor Calibration + * @group Sensors */ PARAM_DEFINE_FLOAT(SENS_BOARD_Y_OFF, 0.0f); @@ -938,7 +168,7 @@ PARAM_DEFINE_FLOAT(SENS_BOARD_Y_OFF, 0.0f); * to fine tune the board offset in the event of misalignment. * * @unit deg - * @group Sensor Calibration + * @group Sensors */ PARAM_DEFINE_FLOAT(SENS_BOARD_X_OFF, 0.0f); @@ -949,124 +179,27 @@ PARAM_DEFINE_FLOAT(SENS_BOARD_X_OFF, 0.0f); * to fine tune the board offset in the event of misalignment. * * @unit deg - * @group Sensor Calibration + * @group Sensors */ PARAM_DEFINE_FLOAT(SENS_BOARD_Z_OFF, 0.0f); -/** - * Select primary magnetometer. - * DEPRECATED, only used on V1 hardware - * - * @min 0 - * @max 2 - * @value 0 Auto-select Mag - * @value 1 External is primary Mag - * @value 2 Internal is primary Mag - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(SENS_EXT_MAG, 0); - /** * Threshold (of RMS) to warn about high vibration levels * - * @group Sensor Calibration + * @group Sensors * @min 0.01 * @max 10 * @decimal 2 */ PARAM_DEFINE_FLOAT(ATT_VIBE_THRESH, 0.2f); -/** - * Scaling factor for battery voltage sensor on PX4IO. - * - * @min 1 - * @max 100000 - * @group Battery Calibration - */ -PARAM_DEFINE_INT32(BAT_V_SCALE_IO, 10000); - -/** - * Scaling from ADC counts to volt on the ADC input (battery voltage) - * - * This is not the battery voltage, but the intermediate ADC voltage. - * A value of -1 signifies that the board defaults are used, which is - * highly recommended. - * - * @group Battery Calibration - * @decimal 8 - */ -PARAM_DEFINE_FLOAT(BAT_CNT_V_VOLT, -1.0f); - -/** - * Scaling from ADC counts to volt on the ADC input (battery current) - * - * This is not the battery current, but the intermediate ADC voltage. - * A value of -1 signifies that the board defaults are used, which is - * highly recommended. - * - * @group Battery Calibration - * @decimal 8 - */ -PARAM_DEFINE_FLOAT(BAT_CNT_V_CURR, -1.0); - -/** - * Offset in volt as seen by the ADC input of the current sensor. - * - * This offset will be subtracted before calculating the battery - * current based on the voltage. - * - * @group Battery Calibration - * @decimal 8 - */ -PARAM_DEFINE_FLOAT(BAT_V_OFFS_CURR, 0.0); - -/** - * Battery voltage divider (V divider) - * - * This is the divider from battery voltage to 3.3V ADC voltage. - * If using e.g. Mauch power modules the value from the datasheet - * can be applied straight here. A value of -1 means to use - * the board default. - * - * @group Battery Calibration - * @decimal 8 - */ -PARAM_DEFINE_FLOAT(BAT_V_DIV, -1.0); - -/** - * Battery current per volt (A/V) - * - * The voltage seen by the 3.3V ADC multiplied by this factor - * will determine the battery current. A value of -1 means to use - * the board default. - * - * @group Battery Calibration - * @decimal 8 - */ -PARAM_DEFINE_FLOAT(BAT_A_PER_V, -1.0); - -/** - * Battery monitoring source. - * - * This parameter controls the source of battery data. The value 'Power Module' - * means that measurements are expected to come from a power module. If the value is set to - * 'External' then the system expects to receive mavlink battery status messages. - * - * @min 0 - * @max 1 - * @value 0 Power Module - * @value 1 External - * @group Battery Calibration - */ -PARAM_DEFINE_INT32(BAT_SOURCE, 0); - /** * Lidar-Lite (LL40LS) * * @reboot_required true * @min 0 * @max 2 - * @group Sensor Enable + * @group Sensors * @value 0 Disabled * @value 1 PWM * @value 2 I2C @@ -1079,7 +212,7 @@ PARAM_DEFINE_INT32(SENS_EN_LL40LS, 0); * @reboot_required true * @min 0 * @max 4 - * @group Sensor Enable + * @group Sensors * @value 0 Disabled * @value 1 SF02 * @value 2 SF10/a @@ -1095,7 +228,7 @@ PARAM_DEFINE_INT32(SENS_EN_SF0X, 0); * @reboot_required true * * @boolean - * @group Sensor Enable + * @group Sensors */ PARAM_DEFINE_INT32(SENS_EN_MB12XX, 0); @@ -1105,7 +238,7 @@ PARAM_DEFINE_INT32(SENS_EN_MB12XX, 0); * @reboot_required true * @min 0 * @max 3 - * @group Sensor Enable + * @group Sensors * @value 0 Disabled * @value 1 Autodetect * @value 2 TROne @@ -1119,7 +252,7 @@ PARAM_DEFINE_INT32(SENS_EN_TRANGER, 0); * @reboot_required true * @min 0 * @max 5 - * @group Sensor Enable + * @group Sensors * @value 0 Disabled * @value 1 SF10/a * @value 2 SF10/b @@ -1134,7 +267,7 @@ PARAM_DEFINE_INT32(SENS_EN_SF1XX, 0); * * @value -1 Thermal control unavailable * @value 0 Thermal control off - * @group Sensor Enable + * @group Sensors */ PARAM_DEFINE_INT32(SENS_EN_THERMAL, -1); @@ -1149,7 +282,7 @@ PARAM_DEFINE_INT32(SENS_EN_THERMAL, -1); * @max 1000 * @unit Hz * @reboot_required true -* @group Sensor Calibration +* @group Sensors */ PARAM_DEFINE_FLOAT(IMU_GYRO_CUTOFF, 30.0f); @@ -1164,6 +297,6 @@ PARAM_DEFINE_FLOAT(IMU_GYRO_CUTOFF, 30.0f); * @max 1000 * @unit Hz * @reboot_required true -* @group Sensor Calibration +* @group Sensors */ PARAM_DEFINE_FLOAT(IMU_ACCEL_CUTOFF, 30.0f); diff --git a/src/modules/sensors/sensor_params_accel.c b/src/modules/sensors/sensor_params_accel.c new file mode 100644 index 0000000000..1b85a23b76 --- /dev/null +++ b/src/modules/sensors/sensor_params_accel.c @@ -0,0 +1,186 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2017 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. + * + ****************************************************************************/ + +/** + * Primary accel ID + * + * @group Sensor Calibration + */ +PARAM_DEFINE_INT32(CAL_ACC_PRIME, 0); + +/** + * ID of the Accelerometer that the calibration is for. + * + * @group Sensor Calibration + */ +PARAM_DEFINE_INT32(CAL_ACC0_ID, 0); + +/** + * Accelerometer X-axis offset + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_ACC0_XOFF, 0.0f); + +/** + * Accelerometer Y-axis offset + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_ACC0_YOFF, 0.0f); + +/** + * Accelerometer Z-axis offset + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_ACC0_ZOFF, 0.0f); + +/** + * Accelerometer X-axis scaling factor + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_ACC0_XSCALE, 1.0f); + +/** + * Accelerometer Y-axis scaling factor + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_ACC0_YSCALE, 1.0f); + +/** + * Accelerometer Z-axis scaling factor + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_ACC0_ZSCALE, 1.0f); + +/** + * ID of the Accelerometer that the calibration is for. + * + * @group Sensor Calibration + */ +PARAM_DEFINE_INT32(CAL_ACC1_ID, 0); + +/** + * Accelerometer X-axis offset + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_ACC1_XOFF, 0.0f); + +/** + * Accelerometer Y-axis offset + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_ACC1_YOFF, 0.0f); + +/** + * Accelerometer Z-axis offset + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_ACC1_ZOFF, 0.0f); + +/** + * Accelerometer X-axis scaling factor + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_ACC1_XSCALE, 1.0f); + +/** + * Accelerometer Y-axis scaling factor + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_ACC1_YSCALE, 1.0f); + +/** + * Accelerometer Z-axis scaling factor + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_ACC1_ZSCALE, 1.0f); + +/** + * ID of the Accelerometer that the calibration is for. + * + * @group Sensor Calibration + */ +PARAM_DEFINE_INT32(CAL_ACC2_ID, 0); + +/** + * Accelerometer X-axis offset + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_ACC2_XOFF, 0.0f); + +/** + * Accelerometer Y-axis offset + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_ACC2_YOFF, 0.0f); + +/** + * Accelerometer Z-axis offset + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_ACC2_ZOFF, 0.0f); + +/** + * Accelerometer X-axis scaling factor + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_ACC2_XSCALE, 1.0f); + +/** + * Accelerometer Y-axis scaling factor + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_ACC2_YSCALE, 1.0f); + +/** + * Accelerometer Z-axis scaling factor + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_ACC2_ZSCALE, 1.0f); diff --git a/src/modules/sensors/sensor_params_battery.c b/src/modules/sensors/sensor_params_battery.c new file mode 100644 index 0000000000..85318b8770 --- /dev/null +++ b/src/modules/sensors/sensor_params_battery.c @@ -0,0 +1,116 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2017 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. + * + ****************************************************************************/ + +/** + * Scaling factor for battery voltage sensor on PX4IO. + * + * @min 1 + * @max 100000 + * @group Battery Calibration + */ +PARAM_DEFINE_INT32(BAT_V_SCALE_IO, 10000); + +/** + * Scaling from ADC counts to volt on the ADC input (battery voltage) + * + * This is not the battery voltage, but the intermediate ADC voltage. + * A value of -1 signifies that the board defaults are used, which is + * highly recommended. + * + * @group Battery Calibration + * @decimal 8 + */ +PARAM_DEFINE_FLOAT(BAT_CNT_V_VOLT, -1.0f); + +/** + * Scaling from ADC counts to volt on the ADC input (battery current) + * + * This is not the battery current, but the intermediate ADC voltage. + * A value of -1 signifies that the board defaults are used, which is + * highly recommended. + * + * @group Battery Calibration + * @decimal 8 + */ +PARAM_DEFINE_FLOAT(BAT_CNT_V_CURR, -1.0); + +/** + * Offset in volt as seen by the ADC input of the current sensor. + * + * This offset will be subtracted before calculating the battery + * current based on the voltage. + * + * @group Battery Calibration + * @decimal 8 + */ +PARAM_DEFINE_FLOAT(BAT_V_OFFS_CURR, 0.0); + +/** + * Battery voltage divider (V divider) + * + * This is the divider from battery voltage to 3.3V ADC voltage. + * If using e.g. Mauch power modules the value from the datasheet + * can be applied straight here. A value of -1 means to use + * the board default. + * + * @group Battery Calibration + * @decimal 8 + */ +PARAM_DEFINE_FLOAT(BAT_V_DIV, -1.0); + +/** + * Battery current per volt (A/V) + * + * The voltage seen by the 3.3V ADC multiplied by this factor + * will determine the battery current. A value of -1 means to use + * the board default. + * + * @group Battery Calibration + * @decimal 8 + */ +PARAM_DEFINE_FLOAT(BAT_A_PER_V, -1.0); + +/** + * Battery monitoring source. + * + * This parameter controls the source of battery data. The value 'Power Module' + * means that measurements are expected to come from a power module. If the value is set to + * 'External' then the system expects to receive mavlink battery status messages. + * + * @min 0 + * @max 1 + * @value 0 Power Module + * @value 1 External + * @group Battery Calibration + */ +PARAM_DEFINE_INT32(BAT_SOURCE, 0); diff --git a/src/modules/sensors/sensor_params_gyro.c b/src/modules/sensors/sensor_params_gyro.c new file mode 100644 index 0000000000..a3dbe35c31 --- /dev/null +++ b/src/modules/sensors/sensor_params_gyro.c @@ -0,0 +1,186 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2017 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. + * + ****************************************************************************/ + +/** + * Primary gyro ID + * + * @group Sensor Calibration + */ +PARAM_DEFINE_INT32(CAL_GYRO_PRIME, 0); + +/** + * ID of the Gyro that the calibration is for. + * + * @group Sensor Calibration + */ +PARAM_DEFINE_INT32(CAL_GYRO0_ID, 0); + +/** + * Gyro X-axis offset + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_GYRO0_XOFF, 0.0f); + +/** + * Gyro Y-axis offset + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_GYRO0_YOFF, 0.0f); + +/** + * Gyro Z-axis offset + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_GYRO0_ZOFF, 0.0f); + +/** + * Gyro X-axis scaling factor + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_GYRO0_XSCALE, 1.0f); + +/** + * Gyro Y-axis scaling factor + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_GYRO0_YSCALE, 1.0f); + +/** + * Gyro Z-axis scaling factor + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_GYRO0_ZSCALE, 1.0f); + +/** + * ID of the Gyro that the calibration is for. + * + * @group Sensor Calibration + */ +PARAM_DEFINE_INT32(CAL_GYRO1_ID, 0); + +/** + * Gyro X-axis offset + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_GYRO1_XOFF, 0.0f); + +/** + * Gyro Y-axis offset + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_GYRO1_YOFF, 0.0f); + +/** + * Gyro Z-axis offset + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_GYRO1_ZOFF, 0.0f); + +/** + * Gyro X-axis scaling factor + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_GYRO1_XSCALE, 1.0f); + +/** + * Gyro Y-axis scaling factor + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_GYRO1_YSCALE, 1.0f); + +/** + * Gyro Z-axis scaling factor + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_GYRO1_ZSCALE, 1.0f); + +/** + * ID of the Gyro that the calibration is for. + * + * @group Sensor Calibration + */ +PARAM_DEFINE_INT32(CAL_GYRO2_ID, 0); + +/** + * Gyro X-axis offset + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_GYRO2_XOFF, 0.0f); + +/** + * Gyro Y-axis offset + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_GYRO2_YOFF, 0.0f); + +/** + * Gyro Z-axis offset + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_GYRO2_ZOFF, 0.0f); + +/** + * Gyro X-axis scaling factor + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_GYRO2_XSCALE, 1.0f); + +/** + * Gyro Y-axis scaling factor + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_GYRO2_YSCALE, 1.0f); + +/** + * Gyro Z-axis scaling factor + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_GYRO2_ZSCALE, 1.0f); diff --git a/src/modules/sensors/sensor_params_mag.c b/src/modules/sensors/sensor_params_mag.c new file mode 100644 index 0000000000..c9bee52cbe --- /dev/null +++ b/src/modules/sensors/sensor_params_mag.c @@ -0,0 +1,431 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2017 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. + * + ****************************************************************************/ + +/** + * Primary mag ID + * + * @group Sensor Calibration + */ +PARAM_DEFINE_INT32(CAL_MAG_PRIME, 0); + +/** + * Bitfield selecting mag sides for calibration + * + * DETECT_ORIENTATION_TAIL_DOWN = 1 + * DETECT_ORIENTATION_NOSE_DOWN = 2 + * DETECT_ORIENTATION_LEFT = 4 + * DETECT_ORIENTATION_RIGHT = 8 + * DETECT_ORIENTATION_UPSIDE_DOWN = 16 + * DETECT_ORIENTATION_RIGHTSIDE_UP = 32 + * + * @min 34 + * @max 63 + * @value 34 Two side calibration + * @value 38 Three side calibration + * @value 63 Six side calibration + * @group Sensor Calibration + */ +PARAM_DEFINE_INT32(CAL_MAG_SIDES, 63); + + +/** + * ID of Magnetometer the calibration is for. + * + * @group Sensor Calibration + */ +PARAM_DEFINE_INT32(CAL_MAG0_ID, 0); + +/** + * Rotation of magnetometer 0 relative to airframe. + * + * An internal magnetometer will force a value of -1, so a GCS + * should only attempt to configure the rotation if the value is + * greater than or equal to zero. + * + * @value -1 Internal mag + * @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° + * + * @min -1 + * @max 30 + * @reboot_required true + * @group Sensor Calibration + */ +PARAM_DEFINE_INT32(CAL_MAG0_ROT, -1); + +/** + * Magnetometer X-axis offset + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_MAG0_XOFF, 0.0f); + +/** + * Magnetometer Y-axis offset + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_MAG0_YOFF, 0.0f); + +/** + * Magnetometer Z-axis offset + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_MAG0_ZOFF, 0.0f); + +/** + * Magnetometer X-axis scaling factor + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_MAG0_XSCALE, 1.0f); + +/** + * Magnetometer Y-axis scaling factor + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_MAG0_YSCALE, 1.0f); + +/** + * Magnetometer Z-axis scaling factor + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_MAG0_ZSCALE, 1.0f); + +/** + * ID of Magnetometer the calibration is for. + * + * @group Sensor Calibration + */ +PARAM_DEFINE_INT32(CAL_MAG1_ID, 0); + +/** + * Rotation of magnetometer 1 relative to airframe. + * + * An internal magnetometer will force a value of -1, so a GCS + * should only attempt to configure the rotation if the value is + * greater than or equal to zero. + * + * @value -1 Internal mag + * @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° + * + * @min -1 + * @max 30 + * @reboot_required true + * @group Sensor Calibration + */ +PARAM_DEFINE_INT32(CAL_MAG1_ROT, -1); + +/** + * Magnetometer X-axis offset + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_MAG1_XOFF, 0.0f); + +/** + * Magnetometer Y-axis offset + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_MAG1_YOFF, 0.0f); + +/** + * Magnetometer Z-axis offset + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_MAG1_ZOFF, 0.0f); + +/** + * Magnetometer X-axis scaling factor + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_MAG1_XSCALE, 1.0f); + +/** + * Magnetometer Y-axis scaling factor + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_MAG1_YSCALE, 1.0f); + +/** + * Magnetometer Z-axis scaling factor + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_MAG1_ZSCALE, 1.0f); + +/** + * ID of Magnetometer the calibration is for. + * + * @group Sensor Calibration + */ +PARAM_DEFINE_INT32(CAL_MAG2_ID, 0); + +/** + * Rotation of magnetometer 2 relative to airframe. + * + * An internal magnetometer will force a value of -1, so a GCS + * should only attempt to configure the rotation if the value is + * greater than or equal to zero. + * + * @value -1 Internal mag + * @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° + * + * @min -1 + * @max 30 + * @reboot_required true + * @group Sensor Calibration + */ +PARAM_DEFINE_INT32(CAL_MAG2_ROT, -1); + +/** + * Magnetometer X-axis offset + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_MAG2_XOFF, 0.0f); + +/** + * Magnetometer Y-axis offset + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_MAG2_YOFF, 0.0f); + +/** + * Magnetometer Z-axis offset + * + * @min -500.0 + * @max 500.0 + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_MAG2_ZOFF, 0.0f); + +/** + * Magnetometer X-axis scaling factor + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_MAG2_XSCALE, 1.0f); + +/** + * Magnetometer Y-axis scaling factor + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_MAG2_YSCALE, 1.0f); + +/** + * Magnetometer Z-axis scaling factor + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_MAG2_ZSCALE, 1.0f); + +/** + * ID of Magnetometer the calibration is for. + * + * @group Sensor Calibration + */ +PARAM_DEFINE_INT32(CAL_MAG3_ID, 0); + +/** + * Rotation of magnetometer 2 relative to airframe. + * + * An internal magnetometer will force a value of -1, so a GCS + * should only attempt to configure the rotation if the value is + * greater than or equal to zero. + * + * @value -1 Internal mag + * @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° + * + * @min -1 + * @max 30 + * @reboot_required true + * @group Sensor Calibration + */ +PARAM_DEFINE_INT32(CAL_MAG3_ROT, -1); + +/** + * Magnetometer X-axis offset + * + * @min -500.0 + * @max 500.0 + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_MAG3_XOFF, 0.0f); + +/** + * Magnetometer Y-axis offset + * + * @min -500.0 + * @max 500.0 + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_MAG3_YOFF, 0.0f); + +/** + * Magnetometer Z-axis offset + * + * @min -500.0 + * @max 500.0 + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_MAG3_ZOFF, 0.0f); + +/** + * Magnetometer X-axis scaling factor + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_MAG3_XSCALE, 1.0f); + +/** + * Magnetometer Y-axis scaling factor + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_MAG3_YSCALE, 1.0f); + +/** + * Magnetometer Z-axis scaling factor + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_MAG3_ZSCALE, 1.0f);