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accel and gyro calibration refactor and cleanup

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- remove all remaining IOCTLs for accel and gyro and handle all calibration entirely in sensors module with parameters
 - sensor_accel and sensor_gyro are now always raw sensor data
 - calibration procedures no longer need to first clear existing values before starting
 - temperature calibration (TC) remove all scale (SCL) parameters
    - gyro and baro scale are completely unused
    - regular accel calibration scale can be used (CAL_ACC*_xSCALE) instead of TC scale
This commit is contained in:
Daniel Agar
2020-06-17 22:50:09 -04:00
committed by GitHub
parent 588d551098
commit f55ed0992c
99 changed files with 933 additions and 2229 deletions
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msg/sensor_accel_fifo.msg
+2
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@@ -11,3 +11,5 @@ uint8 samples # number of valid samples
int16[32] x # acceleration in the NED X board axis in m/s/s
int16[32] y # acceleration in the NED Y board axis in m/s/s
int16[32] z # acceleration in the NED Z board axis in m/s/s
uint8 rotation # Direction the sensor faces (see Rotation enum)
msg/sensor_correction.msg
+11 -42
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@@ -6,52 +6,21 @@ uint64 timestamp # time since system start (microseconds)
# Corrections for gyro angular rate outputs where corrected_rate = raw_rate * gyro_scale + gyro_offset
# Note the corrections are in the sensor frame and must be applied before the sensor data is rotated into body frame
# corrections for uORB instance 0
float32[3] gyro_offset_0 # gyro XYZ offsets in the sensor frame in rad/s
float32[3] gyro_scale_0 # gyro XYZ scale factors in the sensor frame
# corrections for uORB instance 1
float32[3] gyro_offset_1 # gyro XYZ offsets in the sensor frame in rad/s
float32[3] gyro_scale_1 # gyro XYZ scale factors in the sensor frame
# corrections for uORB instance 2
float32[3] gyro_offset_2 # gyro XYZ offsets in the sensor frame in rad/s
float32[3] gyro_scale_2 # gyro XYZ scale factors in the sensor frame
uint32[3] gyro_device_ids
float32[3] gyro_offset_0 # gyro 0 XYZ offsets in the sensor frame in rad/s
float32[3] gyro_offset_1 # gyro 1 XYZ offsets in the sensor frame in rad/s
float32[3] gyro_offset_2 # gyro 2 XYZ offsets in the sensor frame in rad/s
# Corrections for acceleromter acceleration outputs where corrected_accel = raw_accel * accel_scale + accel_offset
# Note the corrections are in the sensor frame and must be applied before the sensor data is rotated into body frame
# corrections for uORB instance 0
float32[3] accel_offset_0 # accelerometer XYZ offsets in the sensor frame in m/s/s
float32[3] accel_scale_0 # accelerometer XYZ scale factors in the sensor frame
# corrections for uORB instance 1
float32[3] accel_offset_1 # accelerometer XYZ offsets in the sensor frame in m/s/s
float32[3] accel_scale_1 # accelerometer XYZ scale factors in the sensor frame
# corrections for uORB instance 2
float32[3] accel_offset_2 # accelerometer XYZ offsets in the sensor frame in m/s/s
float32[3] accel_scale_2 # accelerometer XYZ scale factors in the sensor frame
uint32[3] accel_device_ids
float32[3] accel_offset_0 # accelerometer 0 XYZ offsets in the sensor frame in m/s/s
float32[3] accel_offset_1 # accelerometer 1 XYZ offsets in the sensor frame in m/s/s
float32[3] accel_offset_2 # accelerometer 2 XYZ offsets in the sensor frame in m/s/s
# Corrections for barometric pressure outputs where corrected_pressure = raw_pressure * pressure_scale + pressure_offset
# Note the corrections are in the sensor frame and must be applied before the sensor data is rotated into body frame
# corrections for uORB instance 0
float32 baro_offset_0 # barometric pressure offsets in the sensor frame in m/s/s
float32 baro_scale_0 # barometric pressure scale factors in the sensor frame
# corrections for uORB instance 1
float32 baro_offset_1 # barometric pressure offsets in the sensor frame in m/s/s
float32 baro_scale_1 # barometric pressure scale factors in the sensor frame
# corrections for uORB instance 2
float32 baro_offset_2 # barometric pressure offsets in the sensor frame in m/s/s
float32 baro_scale_2 # barometric pressure scale factors in the sensor frame
# Mapping from uORB index to parameter index for each sensor type. For example accel_mapping[1] contains the
# compensation parameter system index for the sensor_accel uORB index 1 data.
uint8[3] gyro_mapping
uint8[3] accel_mapping
uint8[3] baro_mapping
uint32[3] gyro_device_ids
uint32[3] accel_device_ids
uint32[3] baro_device_ids
float32 baro_offset_0 # barometric pressure 0 offsets in the sensor frame in m/s/s
float32 baro_offset_1 # barometric pressure 1 offsets in the sensor frame in m/s/s
float32 baro_offset_2 # barometric pressure 2 offsets in the sensor frame in m/s/s
msg/sensor_gyro_fifo.msg
+2
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@@ -11,3 +11,5 @@ uint8 samples # number of valid samples
int16[32] x # angular velocity in the NED X board axis in rad/s
int16[32] y # angular velocity in the NED Y board axis in rad/s
int16[32] z # angular velocity in the NED Z board axis in rad/s
uint8 rotation # Direction the sensor faces (see Rotation enum)