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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_mag.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 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);