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

2026-10-25 00:23:35 +08:00 · 2020-10-08 19:01:44 -04:00
parent 28956e0399
commit eecf2e7a1e
47 changed files with 2881 additions and 1163 deletions
@@ -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);