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accel & gyro calibration helpers

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This commit is contained in:
Daniel Agar
2020-08-21 10:12:13 -04:00
parent bae2589fed
commit e3e8c55e82
35 changed files with 1245 additions and 945 deletions
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src/modules/commander/Arming/PreFlightCheck/CMakeLists.txt
+1 -1
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@@ -50,4 +50,4 @@ px4_add_library(PreFlightCheck
checks/cpuResourceCheck.cpp
)
target_include_directories(PreFlightCheck PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
target_link_libraries(PreFlightCheck PUBLIC ArmAuthorization HealthFlags)
target_link_libraries(PreFlightCheck PUBLIC ArmAuthorization HealthFlags sensor_calibration)
src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.cpp
-35
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@@ -301,38 +301,3 @@ bool PreFlightCheck::preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_statu
/* Report status */
return !failed;
}
bool PreFlightCheck::check_calibration(const char *param_template, const int32_t device_id)
{
bool calibration_found = false;
char s[20];
int instance = 0;
/* old style transition: check param values */
while (!calibration_found) {
sprintf(s, param_template, instance);
const param_t parm = param_find_no_notification(s);
/* if the calibration param is not present, abort */
if (parm == PARAM_INVALID) {
break;
}
/* if param get succeeds */
int32_t calibration_devid = -1;
if (param_get(parm, &calibration_devid) == PX4_OK) {
/* if the devid matches, exit early */
if (device_id == calibration_devid) {
calibration_found = true;
break;
}
}
instance++;
}
return calibration_found;
}
src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.hpp
+1 -1
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@@ -112,7 +112,7 @@ private:
const bool report_fail, const bool enforce_gps_required);
static bool failureDetectorCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_s &status, const bool report_fail,
const bool prearm);
static bool check_calibration(const char *param_template, const int32_t device_id);
static bool manualControlCheck(orb_advert_t *mavlink_log_pub, const bool report_fail);
static bool airframeCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_s &status);
static bool cpuResourceCheck(orb_advert_t *mavlink_log_pub, const bool report_fail);
src/modules/commander/Arming/PreFlightCheck/checks/accelerometerCheck.cpp
+3 -2
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@@ -37,7 +37,8 @@
#include <HealthFlags.h>
#include <math.h>
#include <px4_defines.h>
#include <systemlib/mavlink_log.h>
#include <lib/sensor_calibration/Utilities.hpp>
#include <lib/systemlib/mavlink_log.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/sensor_accel.h>
#include <uORB/topics/subsystem_info.h>
@@ -65,7 +66,7 @@ bool PreFlightCheck::accelerometerCheck(orb_advert_t *mavlink_log_pub, vehicle_s
device_id = accel.get().device_id;
calibration_valid = check_calibration("CAL_ACC%u_ID", device_id);
calibration_valid = (calibration::FindCalibrationIndex("ACC", device_id) >= 0);
if (!calibration_valid) {
if (report_fail) {
src/modules/commander/Arming/PreFlightCheck/checks/gyroCheck.cpp
+3 -2
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@@ -36,7 +36,8 @@
#include <drivers/drv_hrt.h>
#include <HealthFlags.h>
#include <px4_defines.h>
#include <systemlib/mavlink_log.h>
#include <lib/sensor_calibration/Utilities.hpp>
#include <lib/systemlib/mavlink_log.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/sensor_gyro.h>
#include <uORB/topics/subsystem_info.h>
@@ -64,7 +65,7 @@ bool PreFlightCheck::gyroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &
device_id = gyro.get().device_id;
calibration_valid = check_calibration("CAL_GYRO%u_ID", device_id);
calibration_valid = (calibration::FindCalibrationIndex("GYRO", device_id) >= 0);
if (!calibration_valid) {
if (report_fail) {
src/modules/commander/Arming/PreFlightCheck/checks/magnetometerCheck.cpp
+3 -2
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@@ -36,7 +36,8 @@
#include <drivers/drv_hrt.h>
#include <HealthFlags.h>
#include <px4_defines.h>
#include <systemlib/mavlink_log.h>
#include <lib/sensor_calibration/Utilities.hpp>
#include <lib/systemlib/mavlink_log.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/sensor_mag.h>
#include <uORB/topics/subsystem_info.h>
@@ -64,7 +65,7 @@ bool PreFlightCheck::magnetometerCheck(orb_advert_t *mavlink_log_pub, vehicle_st
device_id = magnetometer.get().device_id;
calibration_valid = check_calibration("CAL_MAG%u_ID", device_id);
calibration_valid = (calibration::FindCalibrationIndex("MAG", device_id) >= 0);
if (!calibration_valid) {
if (report_fail) {