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

src/modules/sensors/sensor_params_acc3.c

@@ -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
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+ * 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);