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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/temp_comp_params_accel.c
+1 -399
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@@ -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);