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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
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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
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 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
View File
@@ -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
+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.
*
****************************************************************************/
/* 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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@@ -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.
*
****************************************************************************/
/* 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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@@ -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.
*
****************************************************************************/
/* 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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@@ -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.
*
****************************************************************************/
/* 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);