fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-23 02:53:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

accel and gyro calibration refactor and cleanup

Browse Source 
- 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
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/barometer/bmp280/BMP280.cpp
-2
View File
@@ -191,6 +191,4 @@ BMP280::print_status()
perf_print_counter(_sample_perf);
perf_print_counter(_measure_perf);
perf_print_counter(_comms_errors);
_px4_baro.print_status();
}
src/drivers/barometer/bmp388/bmp388.cpp
-2
View File
@@ -105,8 +105,6 @@ BMP388::print_status()
perf_print_counter(_measure_perf);
perf_print_counter(_comms_errors);
printf("measurement interval: %u us \n", _measure_interval);
_px4_baro.print_status();
}
void
src/drivers/barometer/dps310/DPS310.cpp
-2
View File
@@ -284,8 +284,6 @@ DPS310::print_status()
I2CSPIDriverBase::print_status();
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
_px4_barometer.print_status();
}
} // namespace dps310
src/drivers/barometer/lps22hb/LPS22HB.cpp
-1
View File
@@ -184,5 +184,4 @@ void LPS22HB::print_status()
I2CSPIDriverBase::print_status();
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
_px4_baro.print_status();
}
src/drivers/barometer/lps25h/LPS25H.cpp
-2
View File
@@ -199,6 +199,4 @@ void LPS25H::print_status()
I2CSPIDriverBase::print_status();
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
_px4_barometer.print_status();
}
src/drivers/barometer/mpl3115a2/MPL3115A2.cpp
-2
View File
@@ -284,6 +284,4 @@ void MPL3115A2::print_status()
I2CSPIDriverBase::print_status();
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
_px4_barometer.print_status();
}
src/drivers/barometer/ms5611/ms5611.cpp
-2
View File
@@ -340,8 +340,6 @@ void MS5611::print_status()
perf_print_counter(_comms_errors);
printf("device: %s\n", _device_type == MS5611_DEVICE ? "ms5611" : "ms5607");
_px4_barometer.print_status();
}
namespace ms5611
src/drivers/distance_sensor/cm8jl65/CM8JL65.cpp
-2
View File
@@ -327,8 +327,6 @@ CM8JL65::print_info()
{
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
_px4_rangefinder.print_status();
}
void
src/drivers/distance_sensor/leddar_one/LeddarOne.cpp
-2
View File
@@ -267,8 +267,6 @@ LeddarOne::print_info()
{
perf_print_counter(_comms_error);
perf_print_counter(_sample_perf);
_px4_rangefinder.print_status();
}
void
src/drivers/distance_sensor/sf0x/SF0X.cpp
-2
View File
@@ -297,6 +297,4 @@ void SF0X::print_info()
{
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
_px4_rangefinder.print_status();
}
src/drivers/distance_sensor/sf1xx/sf1xx.cpp
-1
View File
@@ -278,7 +278,6 @@ void SF1XX::print_status()
I2CSPIDriverBase::print_status();
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
_px4_rangefinder.print_status();
}
void SF1XX::print_usage()
src/drivers/distance_sensor/srf02/SRF02.cpp
-2
View File
@@ -147,6 +147,4 @@ void SRF02::print_status()
I2CSPIDriverBase::print_status();
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
_px4_rangefinder.print_status();
}
src/drivers/distance_sensor/teraranger/TERARANGER.cpp
-2
View File
@@ -268,6 +268,4 @@ void TERARANGER::print_status()
I2CSPIDriverBase::print_status();
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
_px4_rangefinder.print_status();
}
src/drivers/distance_sensor/tfmini/TFMINI.cpp
-2
View File
@@ -264,6 +264,4 @@ TFMINI::print_info()
printf("Using port '%s'\n", _port);
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
_px4_rangefinder.print_status();
}
src/drivers/distance_sensor/ulanding_radar/AerotennaULanding.cpp
-2
View File
@@ -221,6 +221,4 @@ void AerotennaULanding::print_info()
{
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
_px4_rangefinder.print_status();
}
src/drivers/distance_sensor/vl53l0x/VL53L0X.cpp
-1
View File
@@ -177,7 +177,6 @@ void VL53L0X::print_status()
I2CSPIDriverBase::print_status();
perf_print_counter(_comms_errors);
perf_print_counter(_sample_perf);
_px4_rangefinder.print_status();
}
int VL53L0X::probe()
src/drivers/drv_accel.h
-75
View File
@@ -1,75 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012-2016 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.
*
****************************************************************************/
/**
* @file drv_accel.h
*
* Accelerometer driver interface.
*/
#ifndef _DRV_ACCEL_H
#define _DRV_ACCEL_H
#include <stdint.h>
#include <sys/ioctl.h>
#include "drv_sensor.h"
#include "drv_orb_dev.h"
#define ACCEL_BASE_DEVICE_PATH "/dev/accel"
#include <uORB/topics/sensor_accel.h>
/** accel scaling factors; Vout = Vscale * (Vin + Voffset) */
struct accel_calibration_s {
float x_offset;
float x_scale;
float y_offset;
float y_scale;
float z_offset;
float z_scale;
};
/*
* ioctl() definitions
*
* Accelerometer drivers also implement the generic sensor driver
* interfaces from drv_sensor.h
*/
#define _ACCELIOCBASE (0x2100)
#define _ACCELIOC(_n) (_PX4_IOC(_ACCELIOCBASE, _n))
/** set the accel scaling constants to the structure pointed to by (arg) */
#define ACCELIOCSSCALE _ACCELIOC(5)
#endif /* _DRV_ACCEL_H */
src/drivers/drv_gyro.h
-70
View File
@@ -1,70 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012-2016 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.
*
****************************************************************************/
/**
* @file drv_gyro.h
*
* Gyroscope driver interface.
*/
#ifndef _DRV_GYRO_H
#define _DRV_GYRO_H
#include <stdint.h>
#include <sys/ioctl.h>
#include "drv_sensor.h"
#include "drv_orb_dev.h"
#define GYRO_BASE_DEVICE_PATH "/dev/gyro"
#include <uORB/topics/sensor_gyro.h>
/** gyro scaling factors; Vout = Vin + Voffset */
struct gyro_calibration_s {
float x_offset;
float y_offset;
float z_offset;
};
/*
* ioctl() definitions
*/
#define _GYROIOCBASE (0x2300)
#define _GYROIOC(_n) (_PX4_IOC(_GYROIOCBASE, _n))
/** set the gyro scaling constants to (arg) */
#define GYROIOCSSCALE _GYROIOC(4)
#endif /* _DRV_GYRO_H */
src/drivers/drv_mixer.h
+1 -1
View File
@@ -85,4 +85,4 @@
* - save/serialise for saving tuned mixers.
*/
#endif /* _DRV_ACCEL_H */
#endif /* _DRV_MIXER_H */
src/drivers/imu/adis16448/ADIS16448.cpp
-3
View File
@@ -308,9 +308,6 @@ ADIS16448::print_status()
perf_print_counter(_perf_bad_transfer);
perf_print_counter(_perf_crc_bad);
_px4_accel.print_status();
_px4_baro.print_status();
_px4_gyro.print_status();
_px4_mag.print_status();
}
src/drivers/imu/adis16477/ADIS16477.cpp
-2
View File
@@ -385,6 +385,4 @@ ADIS16477::print_status()
perf_print_counter(_sample_perf);
perf_print_counter(_bad_transfers);
_px4_accel.print_status();
_px4_gyro.print_status();
}
src/drivers/imu/adis16497/ADIS16497.cpp
-2
View File
@@ -505,6 +505,4 @@ ADIS16497::print_status()
perf_print_counter(_sample_perf);
perf_print_counter(_bad_transfers);
_px4_accel.print_status();
_px4_gyro.print_status();
}
src/drivers/imu/bma180/bma180.cpp
-1
View File
@@ -431,7 +431,6 @@ void BMA180::print_status()
{
I2CSPIDriverBase::print_status();
perf_print_counter(_sample_perf);
_px4_accel.print_status();
}
void BMA180::print_usage()
src/drivers/imu/bmi160/bmi160.cpp
-2
View File
@@ -599,6 +599,4 @@ void BMI160::print_status()
perf_print_counter(_good_transfers);
perf_print_counter(_reset_retries);
perf_print_counter(_duplicates);
_px4_accel.print_status();
_px4_gyro.print_status();
}
src/drivers/imu/bosch/bmi055/BMI055_Accelerometer.cpp
-2
View File
@@ -82,8 +82,6 @@ void BMI055_Accelerometer::print_status()
perf_print_counter(_fifo_overflow_perf);
perf_print_counter(_fifo_reset_perf);
perf_print_counter(_drdy_interval_perf);
_px4_accel.print_status();
}
int BMI055_Accelerometer::probe()
src/drivers/imu/bosch/bmi055/BMI055_Gyroscope.cpp
-2
View File
@@ -82,8 +82,6 @@ void BMI055_Gyroscope::print_status()
perf_print_counter(_fifo_overflow_perf);
perf_print_counter(_fifo_reset_perf);
perf_print_counter(_drdy_interval_perf);
_px4_gyro.print_status();
}
int BMI055_Gyroscope::probe()
src/drivers/imu/bosch/bmi088/BMI088_Accelerometer.cpp
-2
View File
@@ -82,8 +82,6 @@ void BMI088_Accelerometer::print_status()
perf_print_counter(_fifo_overflow_perf);
perf_print_counter(_fifo_reset_perf);
perf_print_counter(_drdy_interval_perf);
_px4_accel.print_status();
}
int BMI088_Accelerometer::probe()
src/drivers/imu/bosch/bmi088/BMI088_Gyroscope.cpp
-2
View File
@@ -82,8 +82,6 @@ void BMI088_Gyroscope::print_status()
perf_print_counter(_fifo_overflow_perf);
perf_print_counter(_fifo_reset_perf);
perf_print_counter(_drdy_interval_perf);
_px4_gyro.print_status();
}
int BMI088_Gyroscope::probe()
src/drivers/imu/fxas21002c/FXAS21002C.cpp
-1
View File
@@ -418,7 +418,6 @@ void FXAS21002C::print_status()
}
}
_px4_gyro.print_status();
}
void
src/drivers/imu/icm20948/icm20948.cpp
-2
View File
@@ -828,7 +828,5 @@ ICM20948::print_status()
perf_print_counter(_good_transfers);
perf_print_counter(_duplicates);
_px4_accel.print_status();
_px4_gyro.print_status();
_mag.print_status();
}
src/drivers/imu/invensense/icm20602/ICM20602.cpp
-2
View File
@@ -102,8 +102,6 @@ void ICM20602::print_status()
perf_print_counter(_fifo_reset_perf);
perf_print_counter(_drdy_interval_perf);
_px4_accel.print_status();
_px4_gyro.print_status();
}
int ICM20602::probe()
src/drivers/imu/invensense/icm20608g/ICM20608G.cpp
-2
View File
@@ -107,8 +107,6 @@ void ICM20608G::print_status()
perf_print_counter(_fifo_reset_perf);
perf_print_counter(_drdy_interval_perf);
_px4_accel.print_status();
_px4_gyro.print_status();
}
int ICM20608G::probe()
src/drivers/imu/invensense/icm20649/ICM20649.cpp
-2
View File
@@ -102,8 +102,6 @@ void ICM20649::print_status()
perf_print_counter(_fifo_reset_perf);
perf_print_counter(_drdy_interval_perf);
_px4_accel.print_status();
_px4_gyro.print_status();
}
int ICM20649::probe()
src/drivers/imu/invensense/icm20689/ICM20689.cpp
-3
View File
@@ -106,9 +106,6 @@ void ICM20689::print_status()
perf_print_counter(_fifo_overflow_perf);
perf_print_counter(_fifo_reset_perf);
perf_print_counter(_drdy_interval_perf);
_px4_accel.print_status();
_px4_gyro.print_status();
}
int ICM20689::probe()
src/drivers/imu/invensense/icm20948/ICM20948.cpp
-2
View File
@@ -124,8 +124,6 @@ void ICM20948::print_status()
perf_print_counter(_fifo_reset_perf);
perf_print_counter(_drdy_interval_perf);
_px4_accel.print_status();
_px4_gyro.print_status();
if (_slave_ak09916_magnetometer) {
_slave_ak09916_magnetometer->PrintInfo();
src/drivers/imu/invensense/icm40609d/ICM40609D.cpp
-3
View File
@@ -101,9 +101,6 @@ void ICM40609D::print_status()
perf_print_counter(_fifo_overflow_perf);
perf_print_counter(_fifo_reset_perf);
perf_print_counter(_drdy_interval_perf);
_px4_accel.print_status();
_px4_gyro.print_status();
}
int ICM40609D::probe()
src/drivers/imu/invensense/icm42688p/ICM42688P.cpp
-2
View File
@@ -102,8 +102,6 @@ void ICM42688P::print_status()
perf_print_counter(_fifo_reset_perf);
perf_print_counter(_drdy_interval_perf);
_px4_accel.print_status();
_px4_gyro.print_status();
}
int ICM42688P::probe()
src/drivers/imu/invensense/mpu6000/MPU6000.cpp
-2
View File
@@ -107,8 +107,6 @@ void MPU6000::print_status()
perf_print_counter(_fifo_reset_perf);
perf_print_counter(_drdy_interval_perf);
_px4_accel.print_status();
_px4_gyro.print_status();
}
int MPU6000::probe()
src/drivers/imu/invensense/mpu6500/MPU6500.cpp
-2
View File
@@ -102,8 +102,6 @@ void MPU6500::print_status()
perf_print_counter(_fifo_reset_perf);
perf_print_counter(_drdy_interval_perf);
_px4_accel.print_status();
_px4_gyro.print_status();
}
int MPU6500::probe()
src/drivers/imu/invensense/mpu9250/MPU9250.cpp
-2
View File
@@ -125,8 +125,6 @@ void MPU9250::print_status()
perf_print_counter(_fifo_reset_perf);
perf_print_counter(_drdy_interval_perf);
_px4_accel.print_status();
_px4_gyro.print_status();
if (_slave_ak8963_magnetometer) {
_slave_ak8963_magnetometer->PrintInfo();
src/drivers/imu/l3gd20/L3GD20.cpp
-1
View File
@@ -414,7 +414,6 @@ L3GD20::print_status()
}
}
_px4_gyro.print_status();
}
void
src/drivers/imu/mpu6000/MPU6000.cpp
-2
View File
@@ -883,8 +883,6 @@ MPU6000::print_status()
perf_print_counter(_reset_retries);
perf_print_counter(_duplicates);
_px4_accel.print_status();
_px4_gyro.print_status();
}
void
src/drivers/imu/mpu9250/mpu9250.cpp
-2
View File
@@ -670,7 +670,5 @@ MPU9250::print_status()
perf_print_counter(_bad_registers);
perf_print_counter(_duplicates);
_px4_accel.print_status();
_px4_gyro.print_status();
_mag.print_status();
}
src/drivers/imu/st/ism330dlc/ISM330DLC.cpp
-2
View File
@@ -339,6 +339,4 @@ void ISM330DLC::print_status()
perf_print_counter(_drdy_count_perf);
perf_print_counter(_drdy_interval_perf);
_px4_accel.print_status();
_px4_gyro.print_status();
}
src/drivers/imu/st/lsm9ds1/LSM9DS1.cpp
-2
View File
@@ -309,6 +309,4 @@ void LSM9DS1::print_status()
perf_print_counter(_fifo_overflow_perf);
perf_print_counter(_fifo_reset_perf);
_px4_accel.print_status();
_px4_gyro.print_status();
}