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sensors: allow up to 4 accels, gyros, and baros and add configurable rotations for accel & gyro

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This commit is contained in:
Daniel Agar
2020-10-08 19:01:44 -04:00
committed by GitHub
parent 28956e0399
commit eecf2e7a1e
47 changed files with 2881 additions and 1163 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.cpp
+3 -3
View File
@@ -47,13 +47,13 @@
using namespace time_literals;
static constexpr unsigned max_mandatory_gyro_count = 1;
static constexpr unsigned max_optional_gyro_count = 3;
static constexpr unsigned max_optional_gyro_count = 4;
static constexpr unsigned max_mandatory_accel_count = 1;
static constexpr unsigned max_optional_accel_count = 3;
static constexpr unsigned max_optional_accel_count = 4;
static constexpr unsigned max_mandatory_mag_count = 1;
static constexpr unsigned max_optional_mag_count = 4;
static constexpr unsigned max_mandatory_baro_count = 1;
static constexpr unsigned max_optional_baro_count = 1;
static constexpr unsigned max_optional_baro_count = 4;
bool PreFlightCheck::preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status,
vehicle_status_flags_s &status_flags, const bool checkGNSS, bool reportFailures, const bool prearm,
src/modules/commander/accelerometer_calibration.cpp
+8 -1
View File
@@ -149,7 +149,7 @@ using namespace matrix;
using namespace time_literals;
static constexpr char sensor_name[] {"accel"};
static constexpr unsigned MAX_ACCEL_SENS = 3;
static constexpr unsigned MAX_ACCEL_SENS = 4;
/// Data passed to calibration worker routine
typedef struct {
@@ -176,6 +176,7 @@ static calibrate_return read_accelerometer_avg(float (&accel_avg)[MAX_ACCEL_SENS
{ORB_ID(sensor_accel), 0, 0},
{ORB_ID(sensor_accel), 0, 1},
{ORB_ID(sensor_accel), 0, 2},
{ORB_ID(sensor_accel), 0, 3},
};
/* use the first sensor to pace the readout, but do per-sensor counts */
@@ -202,6 +203,9 @@ static calibrate_return read_accelerometer_avg(float (&accel_avg)[MAX_ACCEL_SENS
case 2:
offset = Vector3f{sensor_correction.accel_offset_2};
break;
case 3:
offset = Vector3f{sensor_correction.accel_offset_3};
break;
}
}
}
@@ -473,6 +477,9 @@ int do_accel_calibration_quick(orb_advert_t *mavlink_log_pub)
case 2:
offset = Vector3f{sensor_correction.accel_offset_2};
break;
case 3:
offset = Vector3f{sensor_correction.accel_offset_3};
break;
}
}
}
src/modules/commander/gyro_calibration.cpp
+5 -1
View File
@@ -59,7 +59,7 @@
#include <uORB/topics/sensor_gyro.h>
static constexpr char sensor_name[] {"gyro"};
static constexpr unsigned MAX_GYROS = 3;
static constexpr unsigned MAX_GYROS = 4;
using matrix::Vector3f;
@@ -101,6 +101,7 @@ static calibrate_return gyro_calibration_worker(gyro_worker_data_t &worker_data)
{ORB_ID(sensor_gyro), 0, 0},
{ORB_ID(sensor_gyro), 0, 1},
{ORB_ID(sensor_gyro), 0, 2},
{ORB_ID(sensor_gyro), 0, 3},
};
memset(&worker_data.last_sample_0_x, 0, sizeof(worker_data.last_sample_0_x));
@@ -148,6 +149,9 @@ static calibrate_return gyro_calibration_worker(gyro_worker_data_t &worker_data)
case 2:
offset = Vector3f{sensor_correction.gyro_offset_2};
break;
case 3:
offset = Vector3f{sensor_correction.gyro_offset_3};
break;
}
}
}
src/modules/sensors/sensor_params_acc0.c
+59
View File
@@ -55,6 +55,65 @@ PARAM_DEFINE_INT32(CAL_ACC0_ID, 0);
*/
PARAM_DEFINE_INT32(CAL_ACC0_PRIO, -1);
/**
* Rotation of accelerometer 0 relative to airframe.
*
* An internal sensor 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
* @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°
* @value 26 Pitch 180°, Yaw 90°
* @value 27 Pitch 180°, Yaw 270°
* @value 28 Roll 90°, Pitch 90°
* @value 29 Roll 180°, Pitch 90°
* @value 30 Roll 270°, Pitch 90°
* @value 31 Roll 90°, Pitch 180°
* @value 32 Roll 270°, Pitch 180°
* @value 33 Roll 90°, Pitch 270°
* @value 34 Roll 180°, Pitch 270°
* @value 35 Roll 270°, Pitch 270°
* @value 36 Roll 90°, Pitch 180°, Yaw 90°
* @value 37 Roll 90°, Yaw 270°
* @value 38 Roll 90°, Pitch 68°, Yaw 293°
* @value 39 Pitch 315°
* @value 40 Roll 90°, Pitch 315°
* @value 41 Roll 270°, Yaw 180°
*
* @min -1
* @max 41
* @reboot_required true
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_ACC0_ROT, -1);
/**
* Accelerometer X-axis offset
*
src/modules/sensors/sensor_params_acc1.c
+59
View File
@@ -55,6 +55,65 @@ PARAM_DEFINE_INT32(CAL_ACC1_ID, 0);
*/
PARAM_DEFINE_INT32(CAL_ACC1_PRIO, -1);
/**
* Rotation of accelerometer 1 relative to airframe.
*
* An internal sensor 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
* @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°
* @value 26 Pitch 180°, Yaw 90°
* @value 27 Pitch 180°, Yaw 270°
* @value 28 Roll 90°, Pitch 90°
* @value 29 Roll 180°, Pitch 90°
* @value 30 Roll 270°, Pitch 90°
* @value 31 Roll 90°, Pitch 180°
* @value 32 Roll 270°, Pitch 180°
* @value 33 Roll 90°, Pitch 270°
* @value 34 Roll 180°, Pitch 270°
* @value 35 Roll 270°, Pitch 270°
* @value 36 Roll 90°, Pitch 180°, Yaw 90°
* @value 37 Roll 90°, Yaw 270°
* @value 38 Roll 90°, Pitch 68°, Yaw 293°
* @value 39 Pitch 315°
* @value 40 Roll 90°, Pitch 315°
* @value 41 Roll 270°, Yaw 180°
*
* @min -1
* @max 41
* @reboot_required true
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_ACC1_ROT, -1);
/**
* Accelerometer X-axis offset
*
src/modules/sensors/sensor_params_acc2.c
+59
View File
@@ -55,6 +55,65 @@ PARAM_DEFINE_INT32(CAL_ACC2_ID, 0);
*/
PARAM_DEFINE_INT32(CAL_ACC2_PRIO, -1);
/**
* Rotation of accelerometer 2 relative to airframe.
*
* An internal sensor 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
* @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°
* @value 26 Pitch 180°, Yaw 90°
* @value 27 Pitch 180°, Yaw 270°
* @value 28 Roll 90°, Pitch 90°
* @value 29 Roll 180°, Pitch 90°
* @value 30 Roll 270°, Pitch 90°
* @value 31 Roll 90°, Pitch 180°
* @value 32 Roll 270°, Pitch 180°
* @value 33 Roll 90°, Pitch 270°
* @value 34 Roll 180°, Pitch 270°
* @value 35 Roll 270°, Pitch 270°
* @value 36 Roll 90°, Pitch 180°, Yaw 90°
* @value 37 Roll 90°, Yaw 270°
* @value 38 Roll 90°, Pitch 68°, Yaw 293°
* @value 39 Pitch 315°
* @value 40 Roll 90°, Pitch 315°
* @value 41 Roll 270°, Yaw 180°
*
* @min -1
* @max 41
* @reboot_required true
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_ACC2_ROT, -1);
/**
* Accelerometer X-axis offset
*
src/modules/sensors/sensor_params_acc3.c
+163
View File
@@ -0,0 +1,163 @@
/****************************************************************************
*
* Copyright (c) 2012-2020 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.
*
****************************************************************************/
/**
* ID of the Accelerometer that the calibration is for.
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_ACC3_ID, 0);
/**
* Accelerometer 3 priority.
*
* @value -1 Uninitialized
* @value 0 Disabled
* @value 1 Min
* @value 25 Low
* @value 50 Medium (Default)
* @value 75 High
* @value 100 Max
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_ACC3_PRIO, -1);
/**
* Rotation of accelerometer 3 relative to airframe.
*
* An internal sensor 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
* @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°
* @value 26 Pitch 180°, Yaw 90°
* @value 27 Pitch 180°, Yaw 270°
* @value 28 Roll 90°, Pitch 90°
* @value 29 Roll 180°, Pitch 90°
* @value 30 Roll 270°, Pitch 90°
* @value 31 Roll 90°, Pitch 180°
* @value 32 Roll 270°, Pitch 180°
* @value 33 Roll 90°, Pitch 270°
* @value 34 Roll 180°, Pitch 270°
* @value 35 Roll 270°, Pitch 270°
* @value 36 Roll 90°, Pitch 180°, Yaw 90°
* @value 37 Roll 90°, Yaw 270°
* @value 38 Roll 90°, Pitch 68°, Yaw 293°
* @value 39 Pitch 315°
* @value 40 Roll 90°, Pitch 315°
* @value 41 Roll 270°, Yaw 180°
*
* @min -1
* @max 41
* @reboot_required true
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_ACC3_ROT, -1);
/**
* Accelerometer X-axis offset
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC3_XOFF, 0.0f);
/**
* Accelerometer Y-axis offset
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC3_YOFF, 0.0f);
/**
* Accelerometer Z-axis offset
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC3_ZOFF, 0.0f);
/**
* Accelerometer X-axis scaling factor
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC3_XSCALE, 1.0f);
/**
* Accelerometer Y-axis scaling factor
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC3_YSCALE, 1.0f);
/**
* Accelerometer Z-axis scaling factor
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC3_ZSCALE, 1.0f);
src/modules/sensors/sensor_params_gyro0.c
+59
View File
@@ -55,6 +55,65 @@ PARAM_DEFINE_INT32(CAL_GYRO0_ID, 0);
*/
PARAM_DEFINE_INT32(CAL_GYRO0_PRIO, -1);
/**
* Rotation of gyro 0 relative to airframe.
*
* An internal sensor 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
* @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°
* @value 26 Pitch 180°, Yaw 90°
* @value 27 Pitch 180°, Yaw 270°
* @value 28 Roll 90°, Pitch 90°
* @value 29 Roll 180°, Pitch 90°
* @value 30 Roll 270°, Pitch 90°
* @value 31 Roll 90°, Pitch 180°
* @value 32 Roll 270°, Pitch 180°
* @value 33 Roll 90°, Pitch 270°
* @value 34 Roll 180°, Pitch 270°
* @value 35 Roll 270°, Pitch 270°
* @value 36 Roll 90°, Pitch 180°, Yaw 90°
* @value 37 Roll 90°, Yaw 270°
* @value 38 Roll 90°, Pitch 68°, Yaw 293°
* @value 39 Pitch 315°
* @value 40 Roll 90°, Pitch 315°
* @value 41 Roll 270°, Yaw 180°
*
* @min -1
* @max 41
* @reboot_required true
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_GYRO0_ROT, -1);
/**
* Gyro X-axis offset
*
src/modules/sensors/sensor_params_gyro1.c
+59
View File
@@ -55,6 +55,65 @@ PARAM_DEFINE_INT32(CAL_GYRO1_ID, 0);
*/
PARAM_DEFINE_INT32(CAL_GYRO1_PRIO, -1);
/**
* Rotation of gyro 1 relative to airframe.
*
* An internal sensor 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
* @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°
* @value 26 Pitch 180°, Yaw 90°
* @value 27 Pitch 180°, Yaw 270°
* @value 28 Roll 90°, Pitch 90°
* @value 29 Roll 180°, Pitch 90°
* @value 30 Roll 270°, Pitch 90°
* @value 31 Roll 90°, Pitch 180°
* @value 32 Roll 270°, Pitch 180°
* @value 33 Roll 90°, Pitch 270°
* @value 34 Roll 180°, Pitch 270°
* @value 35 Roll 270°, Pitch 270°
* @value 36 Roll 90°, Pitch 180°, Yaw 90°
* @value 37 Roll 90°, Yaw 270°
* @value 38 Roll 90°, Pitch 68°, Yaw 293°
* @value 39 Pitch 315°
* @value 40 Roll 90°, Pitch 315°
* @value 41 Roll 270°, Yaw 180°
*
* @min -1
* @max 41
* @reboot_required true
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_GYRO1_ROT, -1);
/**
* Gyro X-axis offset
*
src/modules/sensors/sensor_params_gyro2.c
+59
View File
@@ -55,6 +55,65 @@ PARAM_DEFINE_INT32(CAL_GYRO2_ID, 0);
*/
PARAM_DEFINE_INT32(CAL_GYRO2_PRIO, -1);
/**
* Rotation of gyro 2 relative to airframe.
*
* An internal sensor 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
* @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°
* @value 26 Pitch 180°, Yaw 90°
* @value 27 Pitch 180°, Yaw 270°
* @value 28 Roll 90°, Pitch 90°
* @value 29 Roll 180°, Pitch 90°
* @value 30 Roll 270°, Pitch 90°
* @value 31 Roll 90°, Pitch 180°
* @value 32 Roll 270°, Pitch 180°
* @value 33 Roll 90°, Pitch 270°
* @value 34 Roll 180°, Pitch 270°
* @value 35 Roll 270°, Pitch 270°
* @value 36 Roll 90°, Pitch 180°, Yaw 90°
* @value 37 Roll 90°, Yaw 270°
* @value 38 Roll 90°, Pitch 68°, Yaw 293°
* @value 39 Pitch 315°
* @value 40 Roll 90°, Pitch 315°
* @value 41 Roll 270°, Yaw 180°
*
* @min -1
* @max 41
* @reboot_required true
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_GYRO2_ROT, -1);
/**
* Gyro X-axis offset
*
src/modules/sensors/sensor_params_gyro3.c
+139
View File
@@ -0,0 +1,139 @@
/****************************************************************************
*
* Copyright (c) 2012-2020 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.
*
****************************************************************************/
/**
* ID of the Gyro that the calibration is for.
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_GYRO3_ID, 0);
/**
* Gyro 3 priority.
*
* @value -1 Uninitialized
* @value 0 Disabled
* @value 1 Min
* @value 25 Low
* @value 50 Medium (Default)
* @value 75 High
* @value 100 Max
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_GYRO3_PRIO, -1);
/**
* Rotation of gyro 3 relative to airframe.
*
* An internal sensor 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
* @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°
* @value 26 Pitch 180°, Yaw 90°
* @value 27 Pitch 180°, Yaw 270°
* @value 28 Roll 90°, Pitch 90°
* @value 29 Roll 180°, Pitch 90°
* @value 30 Roll 270°, Pitch 90°
* @value 31 Roll 90°, Pitch 180°
* @value 32 Roll 270°, Pitch 180°
* @value 33 Roll 90°, Pitch 270°
* @value 34 Roll 180°, Pitch 270°
* @value 35 Roll 270°, Pitch 270°
* @value 36 Roll 90°, Pitch 180°, Yaw 90°
* @value 37 Roll 90°, Yaw 270°
* @value 38 Roll 90°, Pitch 68°, Yaw 293°
* @value 39 Pitch 315°
* @value 40 Roll 90°, Pitch 315°
* @value 41 Roll 270°, Yaw 180°
*
* @min -1
* @max 41
* @reboot_required true
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_GYRO3_ROT, -1);
/**
* Gyro X-axis offset
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO3_XOFF, 0.0f);
/**
* Gyro Y-axis offset
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO3_YOFF, 0.0f);
/**
* Gyro Z-axis offset
*
* @category system
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO3_ZOFF, 0.0f);
src/modules/sensors/sensor_params_mag0.c
+2 -2
View File
@@ -58,11 +58,11 @@ PARAM_DEFINE_INT32(CAL_MAG0_PRIO, -1);
/**
* Rotation of magnetometer 0 relative to airframe.
*
* An internal magnetometer will force a value of -1, so a GCS
* An internal sensor 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 -1 Internal
* @value 0 No rotation
* @value 1 Yaw 45°
* @value 2 Yaw 90°
src/modules/sensors/sensor_params_mag1.c
+2 -2
View File
@@ -58,11 +58,11 @@ PARAM_DEFINE_INT32(CAL_MAG1_PRIO, -1);
/**
* Rotation of magnetometer 1 relative to airframe.
*
* An internal magnetometer will force a value of -1, so a GCS
* An internal sensor 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 -1 Internal
* @value 0 No rotation
* @value 1 Yaw 45°
* @value 2 Yaw 90°
src/modules/sensors/sensor_params_mag2.c
+2 -2
View File
@@ -58,11 +58,11 @@ PARAM_DEFINE_INT32(CAL_MAG2_PRIO, -1);
/**
* Rotation of magnetometer 2 relative to airframe.
*
* An internal magnetometer will force a value of -1, so a GCS
* An internal sensor 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 -1 Internal
* @value 0 No rotation
* @value 1 Yaw 45°
* @value 2 Yaw 90°
src/modules/sensors/sensor_params_mag3.c
+2 -2
View File
@@ -58,11 +58,11 @@ PARAM_DEFINE_INT32(CAL_MAG3_PRIO, -1);
/**
* Rotation of magnetometer 3 relative to airframe.
*
* An internal magnetometer will force a value of -1, so a GCS
* An internal sensor 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 -1 Internal
* @value 0 No rotation
* @value 1 Yaw 45°
* @value 2 Yaw 90°
src/modules/sensors/sensors.cpp
+3 -3
View File
@@ -117,10 +117,11 @@ private:
sensor_combined_s _sensor_combined{};
uORB::SubscriptionCallbackWorkItem _vehicle_imu_sub[3] {
uORB::SubscriptionCallbackWorkItem _vehicle_imu_sub[MAX_SENSOR_COUNT] {
{this, ORB_ID(vehicle_imu), 0},
{this, ORB_ID(vehicle_imu), 1},
{this, ORB_ID(vehicle_imu), 2}
{this, ORB_ID(vehicle_imu), 2},
{this, ORB_ID(vehicle_imu), 3}
};
uORB::Subscription _diff_pres_sub{ORB_ID(differential_pressure)};
@@ -175,7 +176,6 @@ private:
VehicleMagnetometer *_vehicle_magnetometer{nullptr};
VehicleGPSPosition *_vehicle_gps_position{nullptr};
static constexpr int MAX_SENSOR_COUNT = 3;
VehicleIMU *_vehicle_imu_list[MAX_SENSOR_COUNT] {};
src/modules/sensors/vehicle_acceleration/VehicleAcceleration.hpp
+1 -1
View File
@@ -73,7 +73,7 @@ private:
void SensorBiasUpdate(bool force = false);
bool SensorSelectionUpdate(bool force = false);
static constexpr int MAX_SENSOR_COUNT = 3;
static constexpr int MAX_SENSOR_COUNT = 4;
uORB::Publication<vehicle_acceleration_s> _vehicle_acceleration_pub{ORB_ID(vehicle_acceleration)};
src/modules/sensors/vehicle_air_data/VehicleAirData.cpp
+4
View File
@@ -98,6 +98,10 @@ void VehicleAirData::SensorCorrectionsUpdate(bool force)
case 2:
_thermal_offset[baro_index] = corrections.baro_offset_2;
break;
case 3:
_thermal_offset[baro_index] = corrections.baro_offset_3;
break;
}
}
}
src/modules/sensors/vehicle_air_data/VehicleAirData.hpp
+3 -2
View File
@@ -71,7 +71,7 @@ private:
void ParametersUpdate();
void SensorCorrectionsUpdate(bool force = false);
static constexpr int MAX_SENSOR_COUNT = 3;
static constexpr int MAX_SENSOR_COUNT = 4;
uORB::Publication<vehicle_air_data_s> _vehicle_air_data_pub{ORB_ID(vehicle_air_data)};
@@ -81,7 +81,8 @@ private:
uORB::SubscriptionCallbackWorkItem _sensor_sub[MAX_SENSOR_COUNT] {
{this, ORB_ID(sensor_baro), 0},
{this, ORB_ID(sensor_baro), 1},
{this, ORB_ID(sensor_baro), 2}
{this, ORB_ID(sensor_baro), 2},
{this, ORB_ID(sensor_baro), 3},
};
perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp
+1 -1
View File
@@ -75,7 +75,7 @@ private:
void SensorBiasUpdate(bool force = false);
bool SensorSelectionUpdate(bool force = false);
static constexpr int MAX_SENSOR_COUNT = 3;
static constexpr int MAX_SENSOR_COUNT = 4;
uORB::Publication<vehicle_angular_acceleration_s> _vehicle_angular_acceleration_pub{ORB_ID(vehicle_angular_acceleration)};
uORB::Publication<vehicle_angular_velocity_s> _vehicle_angular_velocity_pub{ORB_ID(vehicle_angular_velocity)};
src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp
+1 -3
View File
@@ -42,8 +42,6 @@ namespace sensors
using namespace matrix;
using namespace time_literals;
static constexpr int32_t MAG_ROT_VAL_INTERNAL{-1};
static constexpr uint32_t SENSOR_TIMEOUT{300_ms};
VehicleMagnetometer::VehicleMagnetometer() :
@@ -52,7 +50,7 @@ VehicleMagnetometer::VehicleMagnetometer() :
{
char str[20] {};
for (int mag_index = 0; mag_index < 4; mag_index++) {
for (int mag_index = 0; mag_index < MAX_SENSOR_COUNT; mag_index++) {
// CAL_MAGx_ID
sprintf(str, "CAL_%s%u_ID", "MAG", mag_index);
param_find(str);
src/modules/sensors/voted_sensors_update.cpp
+14 -16
View File
@@ -48,7 +48,8 @@ using namespace sensors;
using namespace matrix;
using namespace time_literals;
VotedSensorsUpdate::VotedSensorsUpdate(bool hil_enabled, uORB::SubscriptionCallbackWorkItem(&vehicle_imu_sub)[3]) :
VotedSensorsUpdate::VotedSensorsUpdate(bool hil_enabled,
uORB::SubscriptionCallbackWorkItem(&vehicle_imu_sub)[MAX_SENSOR_COUNT]) :
ModuleParams(nullptr),
_vehicle_imu_sub(vehicle_imu_sub),
_hil_enabled(hil_enabled)
@@ -73,8 +74,8 @@ int VotedSensorsUpdate::init(sensor_combined_s &raw)
void VotedSensorsUpdate::initializeSensors()
{
initSensorClass(_gyro, GYRO_COUNT_MAX);
initSensorClass(_accel, ACCEL_COUNT_MAX);
initSensorClass(_gyro, MAX_SENSOR_COUNT);
initSensorClass(_accel, MAX_SENSOR_COUNT);
}
void VotedSensorsUpdate::parametersUpdate()
@@ -82,7 +83,7 @@ void VotedSensorsUpdate::parametersUpdate()
updateParams();
// run through all IMUs
for (uint8_t uorb_index = 0; uorb_index < math::max(ACCEL_COUNT_MAX, GYRO_COUNT_MAX); uorb_index++) {
for (uint8_t uorb_index = 0; uorb_index < MAX_SENSOR_COUNT; uorb_index++) {
uORB::SubscriptionData<vehicle_imu_s> imu{ORB_ID(vehicle_imu), uorb_index};
imu.update();
@@ -137,7 +138,7 @@ void VotedSensorsUpdate::parametersUpdate()
void VotedSensorsUpdate::imuPoll(struct sensor_combined_s &raw)
{
for (int uorb_index = 0; uorb_index < SENSOR_COUNT_MAX; uorb_index++) {
for (int uorb_index = 0; uorb_index < MAX_SENSOR_COUNT; uorb_index++) {
vehicle_imu_s imu_report;
if ((_accel.priority[uorb_index] > 0) && (_gyro.priority[uorb_index] > 0)
@@ -197,16 +198,16 @@ void VotedSensorsUpdate::imuPoll(struct sensor_combined_s &raw)
// use sensor_selection to find best
if (_sensor_selection_sub.update(&_selection)) {
// reset inconsistency checks against primary
for (int sensor_index = 0; sensor_index < ACCEL_COUNT_MAX; sensor_index++) {
for (int sensor_index = 0; sensor_index < MAX_SENSOR_COUNT; sensor_index++) {
_accel_diff[sensor_index].zero();
}
for (int sensor_index = 0; sensor_index < GYRO_COUNT_MAX; sensor_index++) {
for (int sensor_index = 0; sensor_index < MAX_SENSOR_COUNT; sensor_index++) {
_gyro_diff[sensor_index].zero();
}
}
for (int i = 0; i < SENSOR_COUNT_MAX; i++) {
for (int i = 0; i < MAX_SENSOR_COUNT; i++) {
if ((_accel_device_id[i] != 0) && (_accel_device_id[i] == _selection.accel_device_id)) {
accel_best_index = i;
}
@@ -243,7 +244,7 @@ void VotedSensorsUpdate::imuPoll(struct sensor_combined_s &raw)
sub.unregisterCallback();
}
for (int i = 0; i < GYRO_COUNT_MAX; i++) {
for (int i = 0; i < MAX_SENSOR_COUNT; i++) {
vehicle_imu_s report{};
if (_vehicle_imu_sub[i].copy(&report)) {
@@ -359,11 +360,8 @@ void VotedSensorsUpdate::sensorsPoll(sensor_combined_s &raw)
_selection_changed = false;
}
for (int sensor_index = 0; sensor_index < ACCEL_COUNT_MAX; sensor_index++) {
for (int sensor_index = 0; sensor_index < MAX_SENSOR_COUNT; sensor_index++) {
_accel_diff[sensor_index].zero();
}
for (int sensor_index = 0; sensor_index < GYRO_COUNT_MAX; sensor_index++) {
_gyro_diff[sensor_index].zero();
}
}
@@ -376,7 +374,7 @@ void VotedSensorsUpdate::sensorsPoll(sensor_combined_s &raw)
status.accel_device_id_primary = _selection.accel_device_id;
status.gyro_device_id_primary = _selection.gyro_device_id;
for (int i = 0; i < SENSOR_COUNT_MAX; i++) {
for (int i = 0; i < MAX_SENSOR_COUNT; i++) {
if (_accel_device_id[i] != 0) {
status.accel_device_ids[i] = _accel_device_id[i];
status.accel_inconsistency_m_s_s[i] = _accel_diff[i].norm();
@@ -408,7 +406,7 @@ void VotedSensorsUpdate::calcAccelInconsistency()
const Vector3f primary_accel{_last_sensor_data[_accel.last_best_vote].accelerometer_m_s2};
// Check each sensor against the primary
for (int sensor_index = 0; sensor_index < ACCEL_COUNT_MAX; sensor_index++) {
for (int sensor_index = 0; sensor_index < MAX_SENSOR_COUNT; sensor_index++) {
// check that the sensor we are checking against is not the same as the primary
if (_accel.advertised[sensor_index] && (_accel.priority[sensor_index] > 0)
&& (_accel_device_id[sensor_index] != _selection.accel_device_id)) {
@@ -424,7 +422,7 @@ void VotedSensorsUpdate::calcGyroInconsistency()
const Vector3f primary_gyro{_last_sensor_data[_gyro.last_best_vote].gyro_rad};
// Check each sensor against the primary
for (int sensor_index = 0; sensor_index < GYRO_COUNT_MAX; sensor_index++) {
for (int sensor_index = 0; sensor_index < MAX_SENSOR_COUNT; sensor_index++) {
// check that the sensor we are checking against is not the same as the primary
if (_gyro.advertised[sensor_index] && (_gyro.priority[sensor_index] > 0)
&& (_gyro_device_id[sensor_index] != _selection.gyro_device_id)) {
src/modules/sensors/voted_sensors_update.h
+15 -22
View File
@@ -61,10 +61,7 @@
namespace sensors
{
static constexpr uint8_t GYRO_COUNT_MAX = 3;
static constexpr uint8_t ACCEL_COUNT_MAX = 3;
static constexpr uint8_t SENSOR_COUNT_MAX = math::max(GYRO_COUNT_MAX, ACCEL_COUNT_MAX);
static constexpr uint8_t MAX_SENSOR_COUNT = 4;
/**
** class VotedSensorsUpdate
@@ -78,7 +75,7 @@ public:
* @param parameters parameter values. These do not have to be initialized when constructing this object.
* Only when calling init(), they have to be initialized.
*/
VotedSensorsUpdate(bool hil_enabled, uORB::SubscriptionCallbackWorkItem(&vehicle_imu_sub)[3]);
VotedSensorsUpdate(bool hil_enabled, uORB::SubscriptionCallbackWorkItem(&vehicle_imu_sub)[MAX_SENSOR_COUNT]);
/**
* initialize subscriptions etc.
@@ -112,24 +109,20 @@ public:
private:
static constexpr uint8_t ACCEL_COUNT_MAX = 3;
static constexpr uint8_t GYRO_COUNT_MAX = 3;
static constexpr uint8_t SENSOR_COUNT_MAX = math::max(ACCEL_COUNT_MAX, GYRO_COUNT_MAX);
static constexpr uint8_t DEFAULT_PRIORITY = 50;
struct SensorData {
SensorData() = delete;
explicit SensorData(ORB_ID meta) : subscription{{meta, 0}, {meta, 1}, {meta, 2}} {}
explicit SensorData(ORB_ID meta) : subscription{{meta, 0}, {meta, 1}, {meta, 2}, {meta, 3}} {}
uORB::Subscription subscription[SENSOR_COUNT_MAX]; /**< raw sensor data subscription */
uORB::Subscription subscription[MAX_SENSOR_COUNT]; /**< raw sensor data subscription */
DataValidatorGroup voter{1};
unsigned int last_failover_count{0};
int32_t priority[SENSOR_COUNT_MAX] {};
int32_t priority_configured[SENSOR_COUNT_MAX] {};
int32_t priority[MAX_SENSOR_COUNT] {};
int32_t priority_configured[MAX_SENSOR_COUNT] {};
uint8_t last_best_vote{0}; /**< index of the latest best vote */
uint8_t subscription_count{0};
bool advertised[SENSOR_COUNT_MAX] {false, false, false};
bool advertised[MAX_SENSOR_COUNT] {false, false, false};
};
void initSensorClass(SensorData &sensor_data, uint8_t sensor_count_max);
@@ -167,24 +160,24 @@ private:
uORB::Publication<sensor_selection_s> _sensor_selection_pub{ORB_ID(sensor_selection)}; /**< handle to the sensor selection uORB topic */
uORB::Publication<sensors_status_imu_s> _sensors_status_imu_pub{ORB_ID(sensors_status_imu)};
uORB::SubscriptionCallbackWorkItem(&_vehicle_imu_sub)[SENSOR_COUNT_MAX];
uORB::SubscriptionMultiArray<vehicle_imu_status_s, ACCEL_COUNT_MAX> _vehicle_imu_status_subs{ORB_ID::vehicle_imu_status};
uORB::SubscriptionCallbackWorkItem(&_vehicle_imu_sub)[MAX_SENSOR_COUNT];
uORB::SubscriptionMultiArray<vehicle_imu_status_s, MAX_SENSOR_COUNT> _vehicle_imu_status_subs{ORB_ID::vehicle_imu_status};
uORB::Subscription _sensor_selection_sub{ORB_ID(sensor_selection)};
sensor_combined_s _last_sensor_data[SENSOR_COUNT_MAX] {}; /**< latest sensor data from all sensors instances */
sensor_combined_s _last_sensor_data[MAX_SENSOR_COUNT] {}; /**< latest sensor data from all sensors instances */
const bool _hil_enabled{false}; /**< is hardware-in-the-loop mode enabled? */
bool _selection_changed{true}; /**< true when a sensor selection has changed and not been published */
matrix::Vector3f _accel_diff[ACCEL_COUNT_MAX] {}; /**< filtered accel differences between IMU units (m/s/s) */
matrix::Vector3f _gyro_diff[GYRO_COUNT_MAX] {}; /**< filtered gyro differences between IMU uinits (rad/s) */
matrix::Vector3f _accel_diff[MAX_SENSOR_COUNT] {}; /**< filtered accel differences between IMU units (m/s/s) */
matrix::Vector3f _gyro_diff[MAX_SENSOR_COUNT] {}; /**< filtered gyro differences between IMU uinits (rad/s) */
uint32_t _accel_device_id[SENSOR_COUNT_MAX] {}; /**< accel driver device id for each uorb instance */
uint32_t _gyro_device_id[SENSOR_COUNT_MAX] {}; /**< gyro driver device id for each uorb instance */
uint32_t _accel_device_id[MAX_SENSOR_COUNT] {}; /**< accel driver device id for each uorb instance */
uint32_t _gyro_device_id[MAX_SENSOR_COUNT] {}; /**< gyro driver device id for each uorb instance */
uint64_t _last_accel_timestamp[ACCEL_COUNT_MAX] {}; /**< latest full timestamp */
uint64_t _last_accel_timestamp[MAX_SENSOR_COUNT] {}; /**< latest full timestamp */
sensor_selection_s _selection {}; /**< struct containing the sensor selection to be published to the uORB */
src/modules/temperature_compensation/TemperatureCompensation.h
+8 -8
View File
@@ -49,16 +49,16 @@
namespace temperature_compensation
{
static constexpr uint8_t GYRO_COUNT_MAX = 3;
static constexpr uint8_t ACCEL_COUNT_MAX = 3;
static constexpr uint8_t BARO_COUNT_MAX = 3;
static constexpr uint8_t GYRO_COUNT_MAX = 4;
static constexpr uint8_t ACCEL_COUNT_MAX = 4;
static constexpr uint8_t BARO_COUNT_MAX = 4;
static_assert(GYRO_COUNT_MAX == 3, "GYRO_COUNT_MAX must be 3 (if changed, add/remove TC_* params to match the count)");
static_assert(ACCEL_COUNT_MAX == 3,
"ACCEL_COUNT_MAX must be 3 (if changed, add/remove TC_* params to match the count)");
static_assert(BARO_COUNT_MAX == 3, "BARO_COUNT_MAX must be 3 (if changed, add/remove TC_* params to match the count)");
static_assert(GYRO_COUNT_MAX == 4, "GYRO_COUNT_MAX must be 4 (if changed, add/remove TC_* params to match the count)");
static_assert(ACCEL_COUNT_MAX == 4,
"ACCEL_COUNT_MAX must be 4 (if changed, add/remove TC_* params to match the count)");
static_assert(BARO_COUNT_MAX == 4, "BARO_COUNT_MAX must be 4 (if changed, add/remove TC_* params to match the count)");
static constexpr uint8_t SENSOR_COUNT_MAX = 3;
static constexpr uint8_t SENSOR_COUNT_MAX = 4;
/**
** class TemperatureCompensation
src/modules/temperature_compensation/TemperatureCompensationModule.cpp
+3 -3
View File
@@ -113,7 +113,7 @@ void TemperatureCompensationModule::parameters_update()
void TemperatureCompensationModule::accelPoll()
{
float *offsets[] = {_corrections.accel_offset_0, _corrections.accel_offset_1, _corrections.accel_offset_2 };
float *offsets[] = {_corrections.accel_offset_0, _corrections.accel_offset_1, _corrections.accel_offset_2, _corrections.accel_offset_3 };
// For each accel instance
for (uint8_t uorb_index = 0; uorb_index < ACCEL_COUNT_MAX; uorb_index++) {
@@ -135,7 +135,7 @@ void TemperatureCompensationModule::accelPoll()
void TemperatureCompensationModule::gyroPoll()
{
float *offsets[] = {_corrections.gyro_offset_0, _corrections.gyro_offset_1, _corrections.gyro_offset_2 };
float *offsets[] = {_corrections.gyro_offset_0, _corrections.gyro_offset_1, _corrections.gyro_offset_2, _corrections.gyro_offset_3 };
// For each gyro instance
for (uint8_t uorb_index = 0; uorb_index < GYRO_COUNT_MAX; uorb_index++) {
@@ -157,7 +157,7 @@ void TemperatureCompensationModule::gyroPoll()
void TemperatureCompensationModule::baroPoll()
{
float *offsets[] = {&_corrections.baro_offset_0, &_corrections.baro_offset_1, &_corrections.baro_offset_2 };
float *offsets[] = {&_corrections.baro_offset_0, &_corrections.baro_offset_1, &_corrections.baro_offset_2, &_corrections.baro_offset_3 };
// For each baro instance
for (uint8_t uorb_index = 0; uorb_index < BARO_COUNT_MAX; uorb_index++) {
src/modules/temperature_compensation/TemperatureCompensationModule.h
+6 -3
View File
@@ -105,19 +105,22 @@ private:
uORB::Subscription _accel_subs[ACCEL_COUNT_MAX] {
{ORB_ID(sensor_accel), 0},
{ORB_ID(sensor_accel), 1},
{ORB_ID(sensor_accel), 2}
{ORB_ID(sensor_accel), 2},
{ORB_ID(sensor_accel), 3},
};
uORB::Subscription _gyro_subs[GYRO_COUNT_MAX] {
{ORB_ID(sensor_gyro), 0},
{ORB_ID(sensor_gyro), 1},
{ORB_ID(sensor_gyro), 2}
{ORB_ID(sensor_gyro), 2},
{ORB_ID(sensor_gyro), 3},
};
uORB::Subscription _baro_subs[BARO_COUNT_MAX] {
{ORB_ID(sensor_baro), 0},
{ORB_ID(sensor_baro), 1},
{ORB_ID(sensor_baro), 2}
{ORB_ID(sensor_baro), 2},
{ORB_ID(sensor_baro), 3},
};
uORB::Subscription _params_sub{ORB_ID(parameter_update)};
src/modules/temperature_compensation/temp_comp_params_accel.c
+1 -399
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2017 PX4 Development Team. All rights reserved.
* Copyright (c) 2017-2020 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
@@ -31,14 +31,6 @@
*
****************************************************************************/
/**
* @file temp_comp_params_accel.c
*
* Parameters required for temperature compensation of rate Accelerometers.
*
* @author Paul Riseborough <gncsolns@gmail.com>
*/
/**
* Thermal compensation for accelerometer sensors.
*
@@ -47,393 +39,3 @@
* @boolean
*/
PARAM_DEFINE_INT32(TC_A_ENABLE, 0);
/* Accelerometer 0 */
/**
* ID of Accelerometer that the calibration is for.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_INT32(TC_A0_ID, 0);
/**
* Accelerometer offset temperature ^3 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A0_X3_0, 0.0f);
/**
* Accelerometer offset temperature ^3 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A0_X3_1, 0.0f);
/**
* Accelerometer offset temperature ^3 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A0_X3_2, 0.0f);
/**
* Accelerometer offset temperature ^2 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A0_X2_0, 0.0f);
/**
* Accelerometer offset temperature ^2 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A0_X2_1, 0.0f);
/**
* Accelerometer offset temperature ^2 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A0_X2_2, 0.0f);
/**
* Accelerometer offset temperature ^1 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A0_X1_0, 0.0f);
/**
* Accelerometer offset temperature ^1 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A0_X1_1, 0.0f);
/**
* Accelerometer offset temperature ^1 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A0_X1_2, 0.0f);
/**
* Accelerometer offset temperature ^0 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A0_X0_0, 0.0f);
/**
* Accelerometer offset temperature ^0 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A0_X0_1, 0.0f);
/**
* Accelerometer offset temperature ^0 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A0_X0_2, 0.0f);
/**
* Accelerometer calibration reference temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A0_TREF, 25.0f);
/**
* Accelerometer calibration minimum temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A0_TMIN, 0.0f);
/**
* Accelerometer calibration maximum temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A0_TMAX, 100.0f);
/* Accelerometer 1 */
/**
* ID of Accelerometer that the calibration is for.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_INT32(TC_A1_ID, 0);
/**
* Accelerometer offset temperature ^3 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A1_X3_0, 0.0f);
/**
* Accelerometer offset temperature ^3 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A1_X3_1, 0.0f);
/**
* Accelerometer offset temperature ^3 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A1_X3_2, 0.0f);
/**
* Accelerometer offset temperature ^2 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A1_X2_0, 0.0f);
/**
* Accelerometer offset temperature ^2 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A1_X2_1, 0.0f);
/**
* Accelerometer offset temperature ^2 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A1_X2_2, 0.0f);
/**
* Accelerometer offset temperature ^1 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A1_X1_0, 0.0f);
/**
* Accelerometer offset temperature ^1 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A1_X1_1, 0.0f);
/**
* Accelerometer offset temperature ^1 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A1_X1_2, 0.0f);
/**
* Accelerometer offset temperature ^0 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A1_X0_0, 0.0f);
/**
* Accelerometer offset temperature ^0 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A1_X0_1, 0.0f);
/**
* Accelerometer offset temperature ^0 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A1_X0_2, 0.0f);
/**
* Accelerometer calibration reference temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A1_TREF, 25.0f);
/**
* Accelerometer calibration minimum temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A1_TMIN, 0.0f);
/**
* Accelerometer calibration maximum temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A1_TMAX, 100.0f);
/* Accelerometer 2 */
/**
* ID of Accelerometer that the calibration is for.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_INT32(TC_A2_ID, 0);
/**
* Accelerometer offset temperature ^3 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A2_X3_0, 0.0f);
/**
* Accelerometer offset temperature ^3 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A2_X3_1, 0.0f);
/**
* Accelerometer offset temperature ^3 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A2_X3_2, 0.0f);
/**
* Accelerometer offset temperature ^2 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A2_X2_0, 0.0f);
/**
* Accelerometer offset temperature ^2 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A2_X2_1, 0.0f);
/**
* Accelerometer offset temperature ^2 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A2_X2_2, 0.0f);
/**
* Accelerometer offset temperature ^1 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A2_X1_0, 0.0f);
/**
* Accelerometer offset temperature ^1 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A2_X1_1, 0.0f);
/**
* Accelerometer offset temperature ^1 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A2_X1_2, 0.0f);
/**
* Accelerometer offset temperature ^0 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A2_X0_0, 0.0f);
/**
* Accelerometer offset temperature ^0 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A2_X0_1, 0.0f);
/**
* Accelerometer offset temperature ^0 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A2_X0_2, 0.0f);
/**
* Accelerometer calibration reference temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A2_TREF, 25.0f);
/**
* Accelerometer calibration minimum temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A2_TMIN, 0.0f);
/**
* Accelerometer calibration maximum temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A2_TMAX, 100.0f);
src/modules/temperature_compensation/temp_comp_params_accel_0.c
+162
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@@ -0,0 +1,162 @@
/****************************************************************************
*
* Copyright (c) 2017-2020 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.
*
****************************************************************************/
/* Accelerometer 0 */
/**
* ID of Accelerometer that the calibration is for.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_INT32(TC_A0_ID, 0);
/**
* Accelerometer offset temperature ^3 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A0_X3_0, 0.0f);
/**
* Accelerometer offset temperature ^3 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A0_X3_1, 0.0f);
/**
* Accelerometer offset temperature ^3 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A0_X3_2, 0.0f);
/**
* Accelerometer offset temperature ^2 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A0_X2_0, 0.0f);
/**
* Accelerometer offset temperature ^2 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A0_X2_1, 0.0f);
/**
* Accelerometer offset temperature ^2 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A0_X2_2, 0.0f);
/**
* Accelerometer offset temperature ^1 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A0_X1_0, 0.0f);
/**
* Accelerometer offset temperature ^1 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A0_X1_1, 0.0f);
/**
* Accelerometer offset temperature ^1 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A0_X1_2, 0.0f);
/**
* Accelerometer offset temperature ^0 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A0_X0_0, 0.0f);
/**
* Accelerometer offset temperature ^0 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A0_X0_1, 0.0f);
/**
* Accelerometer offset temperature ^0 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A0_X0_2, 0.0f);
/**
* Accelerometer calibration reference temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A0_TREF, 25.0f);
/**
* Accelerometer calibration minimum temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A0_TMIN, 0.0f);
/**
* Accelerometer calibration maximum temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A0_TMAX, 100.0f);
src/modules/temperature_compensation/temp_comp_params_accel_1.c
+162
View File
@@ -0,0 +1,162 @@
/****************************************************************************
*
* Copyright (c) 2017-2020 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.
*
****************************************************************************/
/* Accelerometer 1 */
/**
* ID of Accelerometer that the calibration is for.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_INT32(TC_A1_ID, 0);
/**
* Accelerometer offset temperature ^3 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A1_X3_0, 0.0f);
/**
* Accelerometer offset temperature ^3 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A1_X3_1, 0.0f);
/**
* Accelerometer offset temperature ^3 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A1_X3_2, 0.0f);
/**
* Accelerometer offset temperature ^2 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A1_X2_0, 0.0f);
/**
* Accelerometer offset temperature ^2 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A1_X2_1, 0.0f);
/**
* Accelerometer offset temperature ^2 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A1_X2_2, 0.0f);
/**
* Accelerometer offset temperature ^1 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A1_X1_0, 0.0f);
/**
* Accelerometer offset temperature ^1 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A1_X1_1, 0.0f);
/**
* Accelerometer offset temperature ^1 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A1_X1_2, 0.0f);
/**
* Accelerometer offset temperature ^0 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A1_X0_0, 0.0f);
/**
* Accelerometer offset temperature ^0 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A1_X0_1, 0.0f);
/**
* Accelerometer offset temperature ^0 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A1_X0_2, 0.0f);
/**
* Accelerometer calibration reference temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A1_TREF, 25.0f);
/**
* Accelerometer calibration minimum temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A1_TMIN, 0.0f);
/**
* Accelerometer calibration maximum temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A1_TMAX, 100.0f);
src/modules/temperature_compensation/temp_comp_params_accel_2.c
+162
View File
@@ -0,0 +1,162 @@
/****************************************************************************
*
* Copyright (c) 2017-2020 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.
*
****************************************************************************/
/* Accelerometer 2 */
/**
* ID of Accelerometer that the calibration is for.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_INT32(TC_A2_ID, 0);
/**
* Accelerometer offset temperature ^3 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A2_X3_0, 0.0f);
/**
* Accelerometer offset temperature ^3 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A2_X3_1, 0.0f);
/**
* Accelerometer offset temperature ^3 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A2_X3_2, 0.0f);
/**
* Accelerometer offset temperature ^2 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A2_X2_0, 0.0f);
/**
* Accelerometer offset temperature ^2 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A2_X2_1, 0.0f);
/**
* Accelerometer offset temperature ^2 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A2_X2_2, 0.0f);
/**
* Accelerometer offset temperature ^1 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A2_X1_0, 0.0f);
/**
* Accelerometer offset temperature ^1 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A2_X1_1, 0.0f);
/**
* Accelerometer offset temperature ^1 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A2_X1_2, 0.0f);
/**
* Accelerometer offset temperature ^0 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A2_X0_0, 0.0f);
/**
* Accelerometer offset temperature ^0 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A2_X0_1, 0.0f);
/**
* Accelerometer offset temperature ^0 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A2_X0_2, 0.0f);
/**
* Accelerometer calibration reference temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A2_TREF, 25.0f);
/**
* Accelerometer calibration minimum temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A2_TMIN, 0.0f);
/**
* Accelerometer calibration maximum temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A2_TMAX, 100.0f);
src/modules/temperature_compensation/temp_comp_params_accel_3.c
+162
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@@ -0,0 +1,162 @@
/****************************************************************************
*
* Copyright (c) 2017-2020 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.
*
****************************************************************************/
/* Accelerometer 3 */
/**
* ID of Accelerometer that the calibration is for.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_INT32(TC_A3_ID, 0);
/**
* Accelerometer offset temperature ^3 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A3_X3_0, 0.0f);
/**
* Accelerometer offset temperature ^3 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A3_X3_1, 0.0f);
/**
* Accelerometer offset temperature ^3 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A3_X3_2, 0.0f);
/**
* Accelerometer offset temperature ^2 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A3_X2_0, 0.0f);
/**
* Accelerometer offset temperature ^2 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A3_X2_1, 0.0f);
/**
* Accelerometer offset temperature ^2 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A3_X2_2, 0.0f);
/**
* Accelerometer offset temperature ^1 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A3_X1_0, 0.0f);
/**
* Accelerometer offset temperature ^1 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A3_X1_1, 0.0f);
/**
* Accelerometer offset temperature ^1 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A3_X1_2, 0.0f);
/**
* Accelerometer offset temperature ^0 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A3_X0_0, 0.0f);
/**
* Accelerometer offset temperature ^0 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A3_X0_1, 0.0f);
/**
* Accelerometer offset temperature ^0 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A3_X0_2, 0.0f);
/**
* Accelerometer calibration reference temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A3_TREF, 25.0f);
/**
* Accelerometer calibration minimum temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A3_TMIN, 0.0f);
/**
* Accelerometer calibration maximum temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A3_TMAX, 100.0f);
src/modules/temperature_compensation/temp_comp_params_baro.c
+1 -255
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2017 PX4 Development Team. All rights reserved.
* Copyright (c) 2017-2020 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
@@ -31,14 +31,6 @@
*
****************************************************************************/
/**
* @file temp_comp_params_baro.c
*
* Parameters required for temperature compensation of barometers.
*
* @author Paul Riseborough <gncsolns@gmail.com>
*/
/**
* Thermal compensation for barometric pressure sensors.
*
@@ -47,249 +39,3 @@
* @boolean
*/
PARAM_DEFINE_INT32(TC_B_ENABLE, 0);
/* Barometer 0 */
/**
* ID of Barometer that the calibration is for.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_INT32(TC_B0_ID, 0);
/**
* Barometer offset temperature ^5 polynomial coefficient.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B0_X5, 0.0f);
/**
* Barometer offset temperature ^4 polynomial coefficient.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B0_X4, 0.0f);
/**
* Barometer offset temperature ^3 polynomial coefficient.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B0_X3, 0.0f);
/**
* Barometer offset temperature ^2 polynomial coefficient.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B0_X2, 0.0f);
/**
* Barometer offset temperature ^1 polynomial coefficients.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B0_X1, 0.0f);
/**
* Barometer offset temperature ^0 polynomial coefficient.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B0_X0, 0.0f);
/**
* Barometer calibration reference temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B0_TREF, 40.0f);
/**
* Barometer calibration minimum temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B0_TMIN, 5.0f);
/**
* Barometer calibration maximum temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B0_TMAX, 75.0f);
/* Barometer 1 */
/**
* ID of Barometer that the calibration is for.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_INT32(TC_B1_ID, 0);
/**
* Barometer offset temperature ^5 polynomial coefficient.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B1_X5, 0.0f);
/**
* Barometer offset temperature ^4 polynomial coefficient.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B1_X4, 0.0f);
/**
* Barometer offset temperature ^3 polynomial coefficient.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B1_X3, 0.0f);
/**
* Barometer offset temperature ^2 polynomial coefficient.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B1_X2, 0.0f);
/**
* Barometer offset temperature ^1 polynomial coefficients.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B1_X1, 0.0f);
/**
* Barometer offset temperature ^0 polynomial coefficient.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B1_X0, 0.0f);
/**
* Barometer calibration reference temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B1_TREF, 40.0f);
/**
* Barometer calibration minimum temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B1_TMIN, 5.0f);
/**
* Barometer calibration maximum temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B1_TMAX, 75.0f);
/* Barometer 2 */
/**
* ID of Barometer that the calibration is for.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_INT32(TC_B2_ID, 0);
/**
* Barometer offset temperature ^5 polynomial coefficient.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B2_X5, 0.0f);
/**
* Barometer offset temperature ^4 polynomial coefficient.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B2_X4, 0.0f);
/**
* Barometer offset temperature ^3 polynomial coefficient.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B2_X3, 0.0f);
/**
* Barometer offset temperature ^2 polynomial coefficient.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B2_X2, 0.0f);
/**
* Barometer offset temperature ^1 polynomial coefficients.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B2_X1, 0.0f);
/**
* Barometer offset temperature ^0 polynomial coefficient.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B2_X0, 0.0f);
/**
* Barometer calibration reference temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B2_TREF, 40.0f);
/**
* Barometer calibration minimum temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B2_TMIN, 5.0f);
/**
* Barometer calibration maximum temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B2_TMAX, 75.0f);
src/modules/temperature_compensation/temp_comp_params_baro_0.c
+114
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@@ -0,0 +1,114 @@
/****************************************************************************
*
* Copyright (c) 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.
*
****************************************************************************/
/* Barometer 0 */
/**
* ID of Barometer that the calibration is for.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_INT32(TC_B0_ID, 0);
/**
* Barometer offset temperature ^5 polynomial coefficient.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B0_X5, 0.0f);
/**
* Barometer offset temperature ^4 polynomial coefficient.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B0_X4, 0.0f);
/**
* Barometer offset temperature ^3 polynomial coefficient.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B0_X3, 0.0f);
/**
* Barometer offset temperature ^2 polynomial coefficient.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B0_X2, 0.0f);
/**
* Barometer offset temperature ^1 polynomial coefficients.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B0_X1, 0.0f);
/**
* Barometer offset temperature ^0 polynomial coefficient.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B0_X0, 0.0f);
/**
* Barometer calibration reference temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B0_TREF, 40.0f);
/**
* Barometer calibration minimum temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B0_TMIN, 5.0f);
/**
* Barometer calibration maximum temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B0_TMAX, 75.0f);
src/modules/temperature_compensation/temp_comp_params_baro_1.c
+114
View File
@@ -0,0 +1,114 @@
/****************************************************************************
*
* Copyright (c) 2017-2020 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.
*
****************************************************************************/
/* Barometer 1 */
/**
* ID of Barometer that the calibration is for.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_INT32(TC_B1_ID, 0);
/**
* Barometer offset temperature ^5 polynomial coefficient.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B1_X5, 0.0f);
/**
* Barometer offset temperature ^4 polynomial coefficient.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B1_X4, 0.0f);
/**
* Barometer offset temperature ^3 polynomial coefficient.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B1_X3, 0.0f);
/**
* Barometer offset temperature ^2 polynomial coefficient.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B1_X2, 0.0f);
/**
* Barometer offset temperature ^1 polynomial coefficients.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B1_X1, 0.0f);
/**
* Barometer offset temperature ^0 polynomial coefficient.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B1_X0, 0.0f);
/**
* Barometer calibration reference temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B1_TREF, 40.0f);
/**
* Barometer calibration minimum temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B1_TMIN, 5.0f);
/**
* Barometer calibration maximum temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B1_TMAX, 75.0f);
src/modules/temperature_compensation/temp_comp_params_baro_2.c
+114
View File
@@ -0,0 +1,114 @@
/****************************************************************************
*
* Copyright (c) 2017-2020 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.
*
****************************************************************************/
/* Barometer 2 */
/**
* ID of Barometer that the calibration is for.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_INT32(TC_B2_ID, 0);
/**
* Barometer offset temperature ^5 polynomial coefficient.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B2_X5, 0.0f);
/**
* Barometer offset temperature ^4 polynomial coefficient.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B2_X4, 0.0f);
/**
* Barometer offset temperature ^3 polynomial coefficient.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B2_X3, 0.0f);
/**
* Barometer offset temperature ^2 polynomial coefficient.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B2_X2, 0.0f);
/**
* Barometer offset temperature ^1 polynomial coefficients.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B2_X1, 0.0f);
/**
* Barometer offset temperature ^0 polynomial coefficient.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B2_X0, 0.0f);
/**
* Barometer calibration reference temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B2_TREF, 40.0f);
/**
* Barometer calibration minimum temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B2_TMIN, 5.0f);
/**
* Barometer calibration maximum temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B2_TMAX, 75.0f);
src/modules/temperature_compensation/temp_comp_params_baro_3.c
+114
View File
@@ -0,0 +1,114 @@
/****************************************************************************
*
* Copyright (c) 2017-2020 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.
*
****************************************************************************/
/* Barometer 3 */
/**
* ID of Barometer that the calibration is for.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_INT32(TC_B3_ID, 0);
/**
* Barometer offset temperature ^5 polynomial coefficient.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B3_X5, 0.0f);
/**
* Barometer offset temperature ^4 polynomial coefficient.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B3_X4, 0.0f);
/**
* Barometer offset temperature ^3 polynomial coefficient.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B3_X3, 0.0f);
/**
* Barometer offset temperature ^2 polynomial coefficient.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B3_X2, 0.0f);
/**
* Barometer offset temperature ^1 polynomial coefficients.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B3_X1, 0.0f);
/**
* Barometer offset temperature ^0 polynomial coefficient.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B3_X0, 0.0f);
/**
* Barometer calibration reference temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B3_TREF, 40.0f);
/**
* Barometer calibration minimum temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B3_TMIN, 5.0f);
/**
* Barometer calibration maximum temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_B3_TMAX, 75.0f);
src/modules/temperature_compensation/temp_comp_params_gyro.c
+1 -399
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2017 PX4 Development Team. All rights reserved.
* Copyright (c) 2017-2020 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
@@ -31,14 +31,6 @@
*
****************************************************************************/
/**
* @file temp_comp_params_gyro.c
*
* Parameters required for temperature compensation of rate gyros.
*
* @author Paul Riseborough <gncsolns@gmail.com>
*/
/**
* Thermal compensation for rate gyro sensors.
*
@@ -47,393 +39,3 @@
* @boolean
*/
PARAM_DEFINE_INT32(TC_G_ENABLE, 0);
/* Gyro 0 */
/**
* ID of Gyro that the calibration is for.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_INT32(TC_G0_ID, 0);
/**
* Gyro rate offset temperature ^3 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G0_X3_0, 0.0f);
/**
* Gyro rate offset temperature ^3 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G0_X3_1, 0.0f);
/**
* Gyro rate offset temperature ^3 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G0_X3_2, 0.0f);
/**
* Gyro rate offset temperature ^2 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G0_X2_0, 0.0f);
/**
* Gyro rate offset temperature ^2 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G0_X2_1, 0.0f);
/**
* Gyro rate offset temperature ^2 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G0_X2_2, 0.0f);
/**
* Gyro rate offset temperature ^1 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G0_X1_0, 0.0f);
/**
* Gyro rate offset temperature ^1 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G0_X1_1, 0.0f);
/**
* Gyro rate offset temperature ^1 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G0_X1_2, 0.0f);
/**
* Gyro rate offset temperature ^0 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G0_X0_0, 0.0f);
/**
* Gyro rate offset temperature ^0 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G0_X0_1, 0.0f);
/**
* Gyro rate offset temperature ^0 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G0_X0_2, 0.0f);
/**
* Gyro calibration reference temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G0_TREF, 25.0f);
/**
* Gyro calibration minimum temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G0_TMIN, 0.0f);
/**
* Gyro calibration maximum temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G0_TMAX, 100.0f);
/* Gyro 1 */
/**
* ID of Gyro that the calibration is for.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_INT32(TC_G1_ID, 0);
/**
* Gyro rate offset temperature ^3 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G1_X3_0, 0.0f);
/**
* Gyro rate offset temperature ^3 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G1_X3_1, 0.0f);
/**
* Gyro rate offset temperature ^3 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G1_X3_2, 0.0f);
/**
* Gyro rate offset temperature ^2 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G1_X2_0, 0.0f);
/**
* Gyro rate offset temperature ^2 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G1_X2_1, 0.0f);
/**
* Gyro rate offset temperature ^2 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G1_X2_2, 0.0f);
/**
* Gyro rate offset temperature ^1 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G1_X1_0, 0.0f);
/**
* Gyro rate offset temperature ^1 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G1_X1_1, 0.0f);
/**
* Gyro rate offset temperature ^1 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G1_X1_2, 0.0f);
/**
* Gyro rate offset temperature ^0 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G1_X0_0, 0.0f);
/**
* Gyro rate offset temperature ^0 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G1_X0_1, 0.0f);
/**
* Gyro rate offset temperature ^0 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G1_X0_2, 0.0f);
/**
* Gyro calibration reference temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G1_TREF, 25.0f);
/**
* Gyro calibration minimum temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G1_TMIN, 0.0f);
/**
* Gyro calibration maximum temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G1_TMAX, 100.0f);
/* Gyro 2 */
/**
* ID of Gyro that the calibration is for.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_INT32(TC_G2_ID, 0);
/**
* Gyro rate offset temperature ^3 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G2_X3_0, 0.0f);
/**
* Gyro rate offset temperature ^3 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G2_X3_1, 0.0f);
/**
* Gyro rate offset temperature ^3 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G2_X3_2, 0.0f);
/**
* Gyro rate offset temperature ^2 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G2_X2_0, 0.0f);
/**
* Gyro rate offset temperature ^2 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G2_X2_1, 0.0f);
/**
* Gyro rate offset temperature ^2 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G2_X2_2, 0.0f);
/**
* Gyro rate offset temperature ^1 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G2_X1_0, 0.0f);
/**
* Gyro rate offset temperature ^1 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G2_X1_1, 0.0f);
/**
* Gyro rate offset temperature ^1 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G2_X1_2, 0.0f);
/**
* Gyro rate offset temperature ^0 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G2_X0_0, 0.0f);
/**
* Gyro rate offset temperature ^0 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G2_X0_1, 0.0f);
/**
* Gyro rate offset temperature ^0 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G2_X0_2, 0.0f);
/**
* Gyro calibration reference temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G2_TREF, 25.0f);
/**
* Gyro calibration minimum temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G2_TMIN, 0.0f);
/**
* Gyro calibration maximum temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G2_TMAX, 100.0f);
src/modules/temperature_compensation/temp_comp_params_gyro_0.c
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/****************************************************************************
*
* Copyright (c) 2017-2020 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.
*
****************************************************************************/
/* Gyro 0 */
/**
* ID of Gyro that the calibration is for.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_INT32(TC_G0_ID, 0);
/**
* Gyro rate offset temperature ^3 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G0_X3_0, 0.0f);
/**
* Gyro rate offset temperature ^3 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G0_X3_1, 0.0f);
/**
* Gyro rate offset temperature ^3 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G0_X3_2, 0.0f);
/**
* Gyro rate offset temperature ^2 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G0_X2_0, 0.0f);
/**
* Gyro rate offset temperature ^2 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G0_X2_1, 0.0f);
/**
* Gyro rate offset temperature ^2 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G0_X2_2, 0.0f);
/**
* Gyro rate offset temperature ^1 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G0_X1_0, 0.0f);
/**
* Gyro rate offset temperature ^1 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G0_X1_1, 0.0f);
/**
* Gyro rate offset temperature ^1 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G0_X1_2, 0.0f);
/**
* Gyro rate offset temperature ^0 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G0_X0_0, 0.0f);
/**
* Gyro rate offset temperature ^0 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G0_X0_1, 0.0f);
/**
* Gyro rate offset temperature ^0 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G0_X0_2, 0.0f);
/**
* Gyro calibration reference temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G0_TREF, 25.0f);
/**
* Gyro calibration minimum temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G0_TMIN, 0.0f);
/**
* Gyro calibration maximum temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G0_TMAX, 100.0f);
src/modules/temperature_compensation/temp_comp_params_gyro_1.c
+162
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/****************************************************************************
*
* Copyright (c) 2017-2020 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.
*
****************************************************************************/
/* Gyro 1 */
/**
* ID of Gyro that the calibration is for.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_INT32(TC_G1_ID, 0);
/**
* Gyro rate offset temperature ^3 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G1_X3_0, 0.0f);
/**
* Gyro rate offset temperature ^3 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G1_X3_1, 0.0f);
/**
* Gyro rate offset temperature ^3 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G1_X3_2, 0.0f);
/**
* Gyro rate offset temperature ^2 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G1_X2_0, 0.0f);
/**
* Gyro rate offset temperature ^2 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G1_X2_1, 0.0f);
/**
* Gyro rate offset temperature ^2 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G1_X2_2, 0.0f);
/**
* Gyro rate offset temperature ^1 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G1_X1_0, 0.0f);
/**
* Gyro rate offset temperature ^1 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G1_X1_1, 0.0f);
/**
* Gyro rate offset temperature ^1 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G1_X1_2, 0.0f);
/**
* Gyro rate offset temperature ^0 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G1_X0_0, 0.0f);
/**
* Gyro rate offset temperature ^0 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G1_X0_1, 0.0f);
/**
* Gyro rate offset temperature ^0 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G1_X0_2, 0.0f);
/**
* Gyro calibration reference temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G1_TREF, 25.0f);
/**
* Gyro calibration minimum temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G1_TMIN, 0.0f);
/**
* Gyro calibration maximum temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G1_TMAX, 100.0f);
src/modules/temperature_compensation/temp_comp_params_gyro_2.c
+162
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/****************************************************************************
*
* Copyright (c) 2017-2020 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.
*
****************************************************************************/
/* Gyro 2 */
/**
* ID of Gyro that the calibration is for.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_INT32(TC_G2_ID, 0);
/**
* Gyro rate offset temperature ^3 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G2_X3_0, 0.0f);
/**
* Gyro rate offset temperature ^3 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G2_X3_1, 0.0f);
/**
* Gyro rate offset temperature ^3 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G2_X3_2, 0.0f);
/**
* Gyro rate offset temperature ^2 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G2_X2_0, 0.0f);
/**
* Gyro rate offset temperature ^2 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G2_X2_1, 0.0f);
/**
* Gyro rate offset temperature ^2 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G2_X2_2, 0.0f);
/**
* Gyro rate offset temperature ^1 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G2_X1_0, 0.0f);
/**
* Gyro rate offset temperature ^1 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G2_X1_1, 0.0f);
/**
* Gyro rate offset temperature ^1 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G2_X1_2, 0.0f);
/**
* Gyro rate offset temperature ^0 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G2_X0_0, 0.0f);
/**
* Gyro rate offset temperature ^0 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G2_X0_1, 0.0f);
/**
* Gyro rate offset temperature ^0 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G2_X0_2, 0.0f);
/**
* Gyro calibration reference temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G2_TREF, 25.0f);
/**
* Gyro calibration minimum temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G2_TMIN, 0.0f);
/**
* Gyro calibration maximum temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G2_TMAX, 100.0f);
src/modules/temperature_compensation/temp_comp_params_gyro_3.c
+162
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/****************************************************************************
*
* Copyright (c) 2017-2020 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.
*
****************************************************************************/
/* Gyro 3 */
/**
* ID of Gyro that the calibration is for.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_INT32(TC_G3_ID, 0);
/**
* Gyro rate offset temperature ^3 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G3_X3_0, 0.0f);
/**
* Gyro rate offset temperature ^3 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G3_X3_1, 0.0f);
/**
* Gyro rate offset temperature ^3 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G3_X3_2, 0.0f);
/**
* Gyro rate offset temperature ^2 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G3_X2_0, 0.0f);
/**
* Gyro rate offset temperature ^2 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G3_X2_1, 0.0f);
/**
* Gyro rate offset temperature ^2 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G3_X2_2, 0.0f);
/**
* Gyro rate offset temperature ^1 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G3_X1_0, 0.0f);
/**
* Gyro rate offset temperature ^1 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G3_X1_1, 0.0f);
/**
* Gyro rate offset temperature ^1 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G3_X1_2, 0.0f);
/**
* Gyro rate offset temperature ^0 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G3_X0_0, 0.0f);
/**
* Gyro rate offset temperature ^0 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G3_X0_1, 0.0f);
/**
* Gyro rate offset temperature ^0 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G3_X0_2, 0.0f);
/**
* Gyro calibration reference temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G3_TREF, 25.0f);
/**
* Gyro calibration minimum temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G3_TMIN, 0.0f);
/**
* Gyro calibration maximum temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_G3_TMAX, 100.0f);