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sensors split accel/gyro/mag calibration parameters

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Daniel Agar
2017-10-29 16:24:31 +01:00
committed by Lorenz Meier
parent 8b7de092a2
commit e1e3c9fca9
5 changed files with 934 additions and 882 deletions
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src/modules/sensors/sensor_params_gyro.c
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/****************************************************************************
*
* 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);