accel and gyro calibration refactor and cleanup

- 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

src/modules/temperature_compensation/TemperatureCompensation.cpp

@@ -71,8 +71,6 @@ int TemperatureCompensation::initialize_parameter_handles(ParameterHandles &para
 				parameter_handles.gyro_cal_handles[j].x1[i] = param_find(nbuf);
 				sprintf(nbuf, "TC_G%d_X0_%d", j, i);
 				parameter_handles.gyro_cal_handles[j].x0[i] = param_find(nbuf);
-				sprintf(nbuf, "TC_G%d_SCL_%d", j, i);
-				parameter_handles.gyro_cal_handles[j].scale[i] = param_find(nbuf);
 			}
 
 			sprintf(nbuf, "TC_G%d_TREF", j);
@@ -103,8 +101,6 @@ int TemperatureCompensation::initialize_parameter_handles(ParameterHandles &para
 				parameter_handles.accel_cal_handles[j].x1[i] = param_find(nbuf);
 				sprintf(nbuf, "TC_A%d_X0_%d", j, i);
 				parameter_handles.accel_cal_handles[j].x0[i] = param_find(nbuf);
-				sprintf(nbuf, "TC_A%d_SCL_%d", j, i);
-				parameter_handles.accel_cal_handles[j].scale[i] = param_find(nbuf);
 			}
 
 			sprintf(nbuf, "TC_A%d_TREF", j);
@@ -137,8 +133,6 @@ int TemperatureCompensation::initialize_parameter_handles(ParameterHandles &para
 			parameter_handles.baro_cal_handles[j].x1 = param_find(nbuf);
 			sprintf(nbuf, "TC_B%d_X0", j);
 			parameter_handles.baro_cal_handles[j].x0 = param_find(nbuf);
-			sprintf(nbuf, "TC_B%d_SCL", j);
-			parameter_handles.baro_cal_handles[j].scale = param_find(nbuf);
 			sprintf(nbuf, "TC_B%d_TREF", j);
 			parameter_handles.baro_cal_handles[j].ref_temp = param_find(nbuf);
 			sprintf(nbuf, "TC_B%d_TMIN", j);
@@ -175,18 +169,12 @@ int TemperatureCompensation::parameters_update()
 					param_get(parameter_handles.gyro_cal_handles[j].x2[i], &(_parameters.gyro_cal_data[j].x2[i]));
 					param_get(parameter_handles.gyro_cal_handles[j].x1[i], &(_parameters.gyro_cal_data[j].x1[i]));
 					param_get(parameter_handles.gyro_cal_handles[j].x0[i], &(_parameters.gyro_cal_data[j].x0[i]));
-					param_get(parameter_handles.gyro_cal_handles[j].scale[i], &(_parameters.gyro_cal_data[j].scale[i]));
 				}
 
 			} else {
-				// Set all cal values to zero and scale factor to unity
+				// Set all cal values to zero
 				memset(&_parameters.gyro_cal_data[j], 0, sizeof(_parameters.gyro_cal_data[j]));
 
-				// Set the scale factor to unity
-				for (unsigned int i = 0; i < 3; i++) {
-					_parameters.gyro_cal_data[j].scale[i] = 1.0f;
-				}
-
 				PX4_WARN("FAIL GYRO %d CAL PARAM LOAD - USING DEFAULTS", j);
 				ret = PX4_ERROR;
 			}
@@ -208,18 +196,12 @@ int TemperatureCompensation::parameters_update()
 					param_get(parameter_handles.accel_cal_handles[j].x2[i], &(_parameters.accel_cal_data[j].x2[i]));
 					param_get(parameter_handles.accel_cal_handles[j].x1[i], &(_parameters.accel_cal_data[j].x1[i]));
 					param_get(parameter_handles.accel_cal_handles[j].x0[i], &(_parameters.accel_cal_data[j].x0[i]));
-					param_get(parameter_handles.accel_cal_handles[j].scale[i], &(_parameters.accel_cal_data[j].scale[i]));
 				}
 
 			} else {
-				// Set all cal values to zero and scale factor to unity
+				// Set all cal values to zero
 				memset(&_parameters.accel_cal_data[j], 0, sizeof(_parameters.accel_cal_data[j]));
 
-				// Set the scale factor to unity
-				for (unsigned int i = 0; i < 3; i++) {
-					_parameters.accel_cal_data[j].scale[i] = 1.0f;
-				}
-
 				PX4_WARN("FAIL ACCEL %d CAL PARAM LOAD - USING DEFAULTS", j);
 				ret = PX4_ERROR;
 			}
@@ -241,22 +223,18 @@ int TemperatureCompensation::parameters_update()
 				param_get(parameter_handles.baro_cal_handles[j].x2, &(_parameters.baro_cal_data[j].x2));
 				param_get(parameter_handles.baro_cal_handles[j].x1, &(_parameters.baro_cal_data[j].x1));
 				param_get(parameter_handles.baro_cal_handles[j].x0, &(_parameters.baro_cal_data[j].x0));
-				param_get(parameter_handles.baro_cal_handles[j].scale, &(_parameters.baro_cal_data[j].scale));
 
 			} else {
-				// Set all cal values to zero and scale factor to unity
+				// Set all cal values to zero
 				memset(&_parameters.baro_cal_data[j], 0, sizeof(_parameters.baro_cal_data[j]));
 
-				// Set the scale factor to unity
-				_parameters.baro_cal_data[j].scale = 1.0f;
-
 				PX4_WARN("FAIL BARO %d CAL PARAM LOAD - USING DEFAULTS", j);
 				ret = PX4_ERROR;
 			}
 		}
 	}
 
-	/* the offsets & scales might have changed, so make sure to report that change later when applying the
+	/* the offsets might have changed, so make sure to report that change later when applying the
 	 * next corrections
 	 */
 	_gyro_data.reset_temperature();
@@ -374,8 +352,7 @@ int TemperatureCompensation::set_sensor_id(uint32_t device_id, int topic_instanc
 	return -1;
 }
 
-int TemperatureCompensation::update_scales_and_offsets_gyro(int topic_instance, float temperature, float *offsets,
-		float *scales)
+int TemperatureCompensation::update_offsets_gyro(int topic_instance, float temperature, float *offsets)
 {
 	// Check if temperature compensation is enabled
 	if (_parameters.gyro_tc_enable != 1) {
@@ -392,11 +369,6 @@ int TemperatureCompensation::update_scales_and_offsets_gyro(int topic_instance,
 	// Calculate and update the offsets
 	calc_thermal_offsets_3D(_parameters.gyro_cal_data[mapping], temperature, offsets);
 
-	// Update the scales
-	for (unsigned axis_index = 0; axis_index < 3; axis_index++) {
-		scales[axis_index] = _parameters.gyro_cal_data[mapping].scale[axis_index];
-	}
-
 	// Check if temperature delta is large enough to warrant a new publication
 	if (fabsf(temperature - _gyro_data.last_temperature[topic_instance]) > 1.0f) {
 		_gyro_data.last_temperature[topic_instance] = temperature;
@@ -406,8 +378,7 @@ int TemperatureCompensation::update_scales_and_offsets_gyro(int topic_instance,
 	return 1;
 }
 
-int TemperatureCompensation::update_scales_and_offsets_accel(int topic_instance, float temperature, float *offsets,
-		float *scales)
+int TemperatureCompensation::update_offsets_accel(int topic_instance, float temperature, float *offsets)
 {
 	// Check if temperature compensation is enabled
 	if (_parameters.accel_tc_enable != 1) {
@@ -424,11 +395,6 @@ int TemperatureCompensation::update_scales_and_offsets_accel(int topic_instance,
 	// Calculate and update the offsets
 	calc_thermal_offsets_3D(_parameters.accel_cal_data[mapping], temperature, offsets);
 
-	// Update the scales
-	for (unsigned axis_index = 0; axis_index < 3; axis_index++) {
-		scales[axis_index] = _parameters.accel_cal_data[mapping].scale[axis_index];
-	}
-
 	// Check if temperature delta is large enough to warrant a new publication
 	if (fabsf(temperature - _accel_data.last_temperature[topic_instance]) > 1.0f) {
 		_accel_data.last_temperature[topic_instance] = temperature;
@@ -438,8 +404,7 @@ int TemperatureCompensation::update_scales_and_offsets_accel(int topic_instance,
 	return 1;
 }
 
-int TemperatureCompensation::update_scales_and_offsets_baro(int topic_instance, float temperature, float *offsets,
-		float *scales)
+int TemperatureCompensation::update_offsets_baro(int topic_instance, float temperature, float *offsets)
 {
 	// Check if temperature compensation is enabled
 	if (_parameters.baro_tc_enable != 1) {
@@ -456,9 +421,6 @@ int TemperatureCompensation::update_scales_and_offsets_baro(int topic_instance,
 	// Calculate and update the offsets
 	calc_thermal_offsets_1D(_parameters.baro_cal_data[mapping], temperature, *offsets);
 
-	// Update the scales
-	*scales = _parameters.baro_cal_data[mapping].scale;
-
 	// Check if temperature delta is large enough to warrant a new publication
 	if (fabsf(temperature - _baro_data.last_temperature[topic_instance]) > 1.0f) {
 		_baro_data.last_temperature[topic_instance] = temperature;

src/modules/temperature_compensation/TemperatureCompensation.h

@@ -84,15 +84,14 @@ public:
 	 * @param sensor_data input sensor data, output sensor data with applied corrections
 	 * @param temperature measured current temperature
 	 * @param offsets returns offsets that were applied (length = 3, except for baro), depending on return value
-	 * @param scales returns scales that were applied (length = 3), depending on return value
 	 * @return -1: error: correction enabled, but no sensor mapping set (@see set_sendor_id_gyro)
 	 *         0: no changes (correction not enabled),
-	 *         1: corrections applied but no changes to offsets & scales,
-	 *         2: corrections applied and offsets & scales updated
+	 *         1: corrections applied but no changes to offsets,
+	 *         2: corrections applied and offsets updated
 	 */
-	int update_scales_and_offsets_gyro(int topic_instance, float temperature, float *offsets, float *scales);
-	int update_scales_and_offsets_accel(int topic_instance, float temperature, float *offsets, float *scales);
-	int update_scales_and_offsets_baro(int topic_instance, float temperature, float *offsets, float *scales);
+	int update_offsets_gyro(int topic_instance, float temperature, float *offsets);
+	int update_offsets_accel(int topic_instance, float temperature, float *offsets);
+	int update_offsets_baro(int topic_instance, float temperature, float *offsets);
 
 	/** output current configuration status to console */
 	void print_status();
@@ -110,7 +109,7 @@ private:
 
 	delta_temp = measured_temp - ref_temp
 	offset = x5 * delta_temp^5 + x4 * delta_temp^4 + x3 * delta_temp^3 + x2 * delta_temp^2 + x1 * delta_temp + x0
-	corrected_value = (raw_value - offset) * scale
+	corrected_value = raw_value - offset
 
 	*/
 	struct SensorCalData1D {
@@ -121,7 +120,6 @@ private:
 		float x2;
 		float x1;
 		float x0;
-		float scale;
 		float ref_temp;
 		float min_temp;
 		float max_temp;
@@ -135,7 +133,6 @@ private:
 		param_t x2;
 		param_t x1;
 		param_t x0;
-		param_t scale;
 		param_t ref_temp;
 		param_t min_temp;
 		param_t max_temp;
@@ -154,7 +151,7 @@ private:
 
 	delta_temp = measured_temp - ref_temp
 	offset = x3 * delta_temp^3 + x2 * delta_temp^2 + x1 * delta_temp + x0
-	corrected_value = (raw_value - offset) * scale
+	corrected_value = raw_value - offset
 
 	 */
 	struct SensorCalData3D {
@@ -163,7 +160,6 @@ private:
 		float x2[3];		/**< x^2 term of polynomial */
 		float x1[3];		/**< x^1 term of polynomial */
 		float x0[3];		/**< x^0 / offset term of polynomial */
-		float scale[3];		/**< scale factor correction */
 		float ref_temp;		/**< reference temperature used by the curve-fit */
 		float min_temp;		/**< minimum temperature with valid compensation data */
 		float max_temp;		/**< maximum temperature with valid compensation data */
@@ -175,7 +171,6 @@ private:
 		param_t x2[3];
 		param_t x1[3];
 		param_t x0[3];
-		param_t scale[3];
 		param_t ref_temp;
 		param_t min_temp;
 		param_t max_temp;

src/modules/temperature_compensation/TemperatureCompensationModule.cpp

@@ -48,19 +48,6 @@ TemperatureCompensationModule::TemperatureCompensationModule() :
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default),
 	_loop_perf(perf_alloc(PC_ELAPSED, "temperature_compensation"))
 {
-	// Initialize the publication variables
-	for (unsigned i = 0; i < 3; i++) {
-		_corrections.gyro_scale_0[i] = 1.0f;
-		_corrections.accel_scale_0[i] = 1.0f;
-		_corrections.gyro_scale_1[i] = 1.0f;
-		_corrections.accel_scale_1[i] = 1.0f;
-		_corrections.gyro_scale_2[i] = 1.0f;
-		_corrections.accel_scale_2[i] = 1.0f;
-	}
-
-	_corrections.baro_scale_0 = 1.0f;
-	_corrections.baro_scale_1 = 1.0f;
-	_corrections.baro_scale_2 = 1.0f;
 }
 
 TemperatureCompensationModule::~TemperatureCompensationModule()
@@ -81,11 +68,9 @@ void TemperatureCompensationModule::parameters_update()
 
 			if (temp < 0) {
 				PX4_ERR("%s init: failed to find device ID %u for instance %i", "gyro", report.device_id, uorb_index);
-				_corrections.gyro_mapping[uorb_index] = 0;
 				_corrections.gyro_device_ids[uorb_index] = 0;
 
 			} else {
-				_corrections.gyro_mapping[uorb_index] = temp;
 				_corrections.gyro_device_ids[uorb_index] = report.device_id;
 			}
 		}
@@ -101,11 +86,9 @@ void TemperatureCompensationModule::parameters_update()
 			if (temp < 0) {
 				PX4_ERR("%s init: failed to find device ID %u for instance %i", "accel", report.device_id, uorb_index);
 
-				_corrections.accel_mapping[uorb_index] = 0;
 				_corrections.accel_device_ids[uorb_index] = 0;
 
 			} else {
-				_corrections.accel_mapping[uorb_index] = temp;
 				_corrections.accel_device_ids[uorb_index] = report.device_id;
 			}
 		}
@@ -120,13 +103,10 @@ void TemperatureCompensationModule::parameters_update()
 
 			if (temp < 0) {
 				PX4_ERR("%s init: failed to find device ID %u for instance %i", "baro", report.device_id, uorb_index);
-				_corrections.baro_mapping[uorb_index] = 0;
 				_corrections.baro_device_ids[uorb_index] = 0;
 
 			} else {
-				_corrections.baro_mapping[uorb_index] = temp;
 				_corrections.baro_device_ids[uorb_index] = temp;
-
 			}
 		}
 	}
@@ -135,7 +115,6 @@ void TemperatureCompensationModule::parameters_update()
 void TemperatureCompensationModule::accelPoll()
 {
 	float *offsets[] = {_corrections.accel_offset_0, _corrections.accel_offset_1, _corrections.accel_offset_2 };
-	float *scales[] = {_corrections.accel_scale_0, _corrections.accel_scale_1, _corrections.accel_scale_2 };
 
 	// For each accel instance
 	for (uint8_t uorb_index = 0; uorb_index < ACCEL_COUNT_MAX; uorb_index++) {
@@ -143,13 +122,13 @@ void TemperatureCompensationModule::accelPoll()
 
 		// Grab temperature from report
 		if (_accel_subs[uorb_index].update(&report)) {
+			if (PX4_ISFINITE(report.temperature)) {
+				// Update the offsets and mark for publication if they've changed
+				if (_temperature_compensation.update_offsets_accel(uorb_index, report.temperature, offsets[uorb_index]) == 2) {
 
-			// Update the scales and offsets and mark for publication if they've changed
-			if (_temperature_compensation.update_scales_and_offsets_accel(uorb_index, report.temperature, offsets[uorb_index],
-					scales[uorb_index]) == 2) {
-
-				_corrections.accel_device_ids[uorb_index] = report.device_id;
-				_corrections_changed = true;
+					_corrections.accel_device_ids[uorb_index] = report.device_id;
+					_corrections_changed = true;
+				}
 			}
 		}
 	}
@@ -158,7 +137,6 @@ void TemperatureCompensationModule::accelPoll()
 void TemperatureCompensationModule::gyroPoll()
 {
 	float *offsets[] = {_corrections.gyro_offset_0, _corrections.gyro_offset_1, _corrections.gyro_offset_2 };
-	float *scales[] = {_corrections.gyro_scale_0, _corrections.gyro_scale_1, _corrections.gyro_scale_2 };
 
 	// For each gyro instance
 	for (uint8_t uorb_index = 0; uorb_index < GYRO_COUNT_MAX; uorb_index++) {
@@ -166,13 +144,13 @@ void TemperatureCompensationModule::gyroPoll()
 
 		// Grab temperature from report
 		if (_gyro_subs[uorb_index].update(&report)) {
+			if (PX4_ISFINITE(report.temperature)) {
+				// Update the offsets and mark for publication if they've changed
+				if (_temperature_compensation.update_offsets_gyro(uorb_index, report.temperature, offsets[uorb_index]) == 2) {
 
-			// Update the scales and offsets and mark for publication if they've changed
-			if (_temperature_compensation.update_scales_and_offsets_gyro(uorb_index, report.temperature, offsets[uorb_index],
-					scales[uorb_index]) == 2) {
-
-				_corrections.gyro_device_ids[uorb_index] = report.device_id;
-				_corrections_changed = true;
+					_corrections.gyro_device_ids[uorb_index] = report.device_id;
+					_corrections_changed = true;
+				}
 			}
 		}
 	}
@@ -181,7 +159,6 @@ void TemperatureCompensationModule::gyroPoll()
 void TemperatureCompensationModule::baroPoll()
 {
 	float *offsets[] = {&_corrections.baro_offset_0, &_corrections.baro_offset_1, &_corrections.baro_offset_2 };
-	float *scales[] = {&_corrections.baro_scale_0, &_corrections.baro_scale_1, &_corrections.baro_scale_2 };
 
 	// For each baro instance
 	for (uint8_t uorb_index = 0; uorb_index < BARO_COUNT_MAX; uorb_index++) {
@@ -189,13 +166,13 @@ void TemperatureCompensationModule::baroPoll()
 
 		// Grab temperature from report
 		if (_baro_subs[uorb_index].update(&report)) {
+			if (PX4_ISFINITE(report.temperature)) {
+				// Update the offsets and mark for publication if they've changed
+				if (_temperature_compensation.update_offsets_baro(uorb_index, report.temperature, offsets[uorb_index]) == 2) {
 
-			// Update the scales and offsets and mark for publication if they've changed
-			if (_temperature_compensation.update_scales_and_offsets_baro(uorb_index, report.temperature,
-					offsets[uorb_index], scales[uorb_index]) == 2) {
-
-				_corrections.baro_device_ids[uorb_index] = report.device_id;
-				_corrections_changed = true;
+					_corrections.baro_device_ids[uorb_index] = report.device_id;
+					_corrections_changed = true;
+				}
 			}
 		}
 	}

src/modules/temperature_compensation/temp_comp_params_accel.c

@@ -154,30 +154,6 @@ PARAM_DEFINE_FLOAT(TC_A0_X0_1, 0.0f);
  */
 PARAM_DEFINE_FLOAT(TC_A0_X0_2, 0.0f);
 
-/**
- * Accelerometer scale factor - X axis.
- *
- * @group Thermal Compensation
- * @category system
- */
-PARAM_DEFINE_FLOAT(TC_A0_SCL_0, 1.0f);
-
-/**
- * Accelerometer scale factor - Y axis.
- *
- * @group Thermal Compensation
- * @category system
- */
-PARAM_DEFINE_FLOAT(TC_A0_SCL_1, 1.0f);
-
-/**
- * Accelerometer scale factor - Z axis.
- *
- * @group Thermal Compensation
- * @category system
- */
-PARAM_DEFINE_FLOAT(TC_A0_SCL_2, 1.0f);
-
 /**
  * Accelerometer calibration reference temperature.
  *
@@ -308,30 +284,6 @@ PARAM_DEFINE_FLOAT(TC_A1_X0_1, 0.0f);
  */
 PARAM_DEFINE_FLOAT(TC_A1_X0_2, 0.0f);
 
-/**
- * Accelerometer scale factor - X axis.
- *
- * @group Thermal Compensation
- * @category system
- */
-PARAM_DEFINE_FLOAT(TC_A1_SCL_0, 1.0f);
-
-/**
- * Accelerometer scale factor - Y axis.
- *
- * @group Thermal Compensation
- * @category system
- */
-PARAM_DEFINE_FLOAT(TC_A1_SCL_1, 1.0f);
-
-/**
- * Accelerometer scale factor - Z axis.
- *
- * @group Thermal Compensation
- * @category system
- */
-PARAM_DEFINE_FLOAT(TC_A1_SCL_2, 1.0f);
-
 /**
  * Accelerometer calibration reference temperature.
  *
@@ -462,30 +414,6 @@ PARAM_DEFINE_FLOAT(TC_A2_X0_1, 0.0f);
  */
 PARAM_DEFINE_FLOAT(TC_A2_X0_2, 0.0f);
 
-/**
- * Accelerometer scale factor - X axis.
- *
- * @group Thermal Compensation
- * @category system
- */
-PARAM_DEFINE_FLOAT(TC_A2_SCL_0, 1.0f);
-
-/**
- * Accelerometer scale factor - Y axis.
- *
- * @group Thermal Compensation
- * @category system
- */
-PARAM_DEFINE_FLOAT(TC_A2_SCL_1, 1.0f);
-
-/**
- * Accelerometer scale factor - Z axis.
- *
- * @group Thermal Compensation
- * @category system
- */
-PARAM_DEFINE_FLOAT(TC_A2_SCL_2, 1.0f);
-
 /**
  * Accelerometer calibration reference temperature.
  *

src/modules/temperature_compensation/temp_comp_params_baro.c

@@ -106,14 +106,6 @@ PARAM_DEFINE_FLOAT(TC_B0_X1, 0.0f);
  */
 PARAM_DEFINE_FLOAT(TC_B0_X0, 0.0f);
 
-/**
- * Barometer scale factor - X axis.
- *
- * @group Thermal Compensation
- * @category system
- */
-PARAM_DEFINE_FLOAT(TC_B0_SCL, 1.0f);
-
 /**
  * Barometer calibration reference temperature.
  *
@@ -196,14 +188,6 @@ PARAM_DEFINE_FLOAT(TC_B1_X1, 0.0f);
  */
 PARAM_DEFINE_FLOAT(TC_B1_X0, 0.0f);
 
-/**
- * Barometer scale factor - X axis.
- *
- * @group Thermal Compensation
- * @category system
- */
-PARAM_DEFINE_FLOAT(TC_B1_SCL, 1.0f);
-
 /**
  * Barometer calibration reference temperature.
  *
@@ -286,14 +270,6 @@ PARAM_DEFINE_FLOAT(TC_B2_X1, 0.0f);
  */
 PARAM_DEFINE_FLOAT(TC_B2_X0, 0.0f);
 
-/**
- * Barometer scale factor - X axis.
- *
- * @group Thermal Compensation
- * @category system
- */
-PARAM_DEFINE_FLOAT(TC_B2_SCL, 1.0f);
-
 /**
  * Barometer calibration reference temperature.
  *

src/modules/temperature_compensation/temp_comp_params_gyro.c

@@ -154,30 +154,6 @@ PARAM_DEFINE_FLOAT(TC_G0_X0_1, 0.0f);
  */
 PARAM_DEFINE_FLOAT(TC_G0_X0_2, 0.0f);
 
-/**
- * Gyro scale factor - X axis.
- *
- * @group Thermal Compensation
- * @category system
- */
-PARAM_DEFINE_FLOAT(TC_G0_SCL_0, 1.0f);
-
-/**
- * Gyro scale factor - Y axis.
- *
- * @group Thermal Compensation
- * @category system
- */
-PARAM_DEFINE_FLOAT(TC_G0_SCL_1, 1.0f);
-
-/**
- * Gyro scale factor - Z axis.
- *
- * @group Thermal Compensation
- * @category system
- */
-PARAM_DEFINE_FLOAT(TC_G0_SCL_2, 1.0f);
-
 /**
  * Gyro calibration reference temperature.
  *
@@ -308,30 +284,6 @@ PARAM_DEFINE_FLOAT(TC_G1_X0_1, 0.0f);
  */
 PARAM_DEFINE_FLOAT(TC_G1_X0_2, 0.0f);
 
-/**
- * Gyro scale factor - X axis.
- *
- * @group Thermal Compensation
- * @category system
- */
-PARAM_DEFINE_FLOAT(TC_G1_SCL_0, 1.0f);
-
-/**
- * Gyro scale factor - Y axis.
- *
- * @group Thermal Compensation
- * @category system
- */
-PARAM_DEFINE_FLOAT(TC_G1_SCL_1, 1.0f);
-
-/**
- * Gyro scale factor - Z axis.
- *
- * @group Thermal Compensation
- * @category system
- */
-PARAM_DEFINE_FLOAT(TC_G1_SCL_2, 1.0f);
-
 /**
  * Gyro calibration reference temperature.
  *
@@ -462,30 +414,6 @@ PARAM_DEFINE_FLOAT(TC_G2_X0_1, 0.0f);
  */
 PARAM_DEFINE_FLOAT(TC_G2_X0_2, 0.0f);
 
-/**
- * Gyro scale factor - X axis.
- *
- * @group Thermal Compensation
- * @category system
- */
-PARAM_DEFINE_FLOAT(TC_G2_SCL_0, 1.0f);
-
-/**
- * Gyro scale factor - Y axis.
- *
- * @group Thermal Compensation
- * @category system
- */
-PARAM_DEFINE_FLOAT(TC_G2_SCL_1, 1.0f);
-
-/**
- * Gyro scale factor - Z axis.
- *
- * @group Thermal Compensation
- * @category system
- */
-PARAM_DEFINE_FLOAT(TC_G2_SCL_2, 1.0f);
-
 /**
  * Gyro calibration reference temperature.
  *

src/modules/temperature_compensation/temperature_calibration/accel.cpp

@@ -68,22 +68,6 @@ TemperatureCalibrationAccel::~TemperatureCalibrationAccel()
 	}
 }
 
-void TemperatureCalibrationAccel::reset_calibration()
-{
-	/* reset all driver level calibrations */
-	float offset = 0.0f;
-	float scale = 1.0f;
-
-	for (unsigned s = 0; s < 3; s++) {
-		set_parameter("CAL_ACC%u_XOFF", s, &offset);
-		set_parameter("CAL_ACC%u_YOFF", s, &offset);
-		set_parameter("CAL_ACC%u_ZOFF", s, &offset);
-		set_parameter("CAL_ACC%u_XSCALE", s, &scale);
-		set_parameter("CAL_ACC%u_YSCALE", s, &scale);
-		set_parameter("CAL_ACC%u_ZSCALE", s, &scale);
-	}
-}
-
 int TemperatureCalibrationAccel::update_sensor_instance(PerSensorData &data, int sensor_sub)
 {
 	bool finished = data.hot_soaked;

src/modules/temperature_compensation/temperature_calibration/accel.h

@@ -47,11 +47,6 @@ public:
 	 */
 	int finish();
 
-	/**
-	 * @see TemperatureCalibrationBase::reset_calibration()
-	 */
-	void reset_calibration();
-
 private:
 
 	virtual inline int update_sensor_instance(PerSensorData &data, int sensor_sub);

src/modules/temperature_compensation/temperature_calibration/baro.cpp

@@ -68,11 +68,6 @@ TemperatureCalibrationBaro::~TemperatureCalibrationBaro()
 	}
 }
 
-void TemperatureCalibrationBaro::reset_calibration()
-{
-	// nothing to do
-}
-
 int TemperatureCalibrationBaro::update_sensor_instance(PerSensorData &data, int sensor_sub)
 {
 	bool finished = data.hot_soaked;

src/modules/temperature_compensation/temperature_calibration/baro.h

@@ -50,11 +50,6 @@ public:
 	 */
 	int finish();
 
-	/**
-	 * @see TemperatureCalibrationBase::reset_calibration()
-	 */
-	void reset_calibration();
-
 private:
 
 	virtual int update_sensor_instance(PerSensorData &data, int sensor_sub);

src/modules/temperature_compensation/temperature_calibration/common.h

@@ -78,9 +78,6 @@ public:
 	 */
 	virtual int finish() = 0;
 
-	/** reset all driver-level calibration parameters */
-	virtual void reset_calibration() = 0;
-
 protected:
 
 	/**

src/modules/temperature_compensation/temperature_calibration/gyro.cpp

@@ -55,18 +55,6 @@ TemperatureCalibrationGyro::TemperatureCalibrationGyro(float min_temperature_ris
 	_num_sensor_instances = num_gyros;
 }
 
-void TemperatureCalibrationGyro::reset_calibration()
-{
-	/* reset all driver level calibrations */
-	float offset = 0.0f;
-
-	for (unsigned s = 0; s < 3; s++) {
-		set_parameter("CAL_GYRO%u_XOFF", s, &offset);
-		set_parameter("CAL_GYRO%u_YOFF", s, &offset);
-		set_parameter("CAL_GYRO%u_ZOFF", s, &offset);
-	}
-}
-
 int TemperatureCalibrationGyro::update_sensor_instance(PerSensorData &data, int sensor_sub)
 {
 	bool finished = data.hot_soaked;

src/modules/temperature_compensation/temperature_calibration/gyro.h

@@ -48,11 +48,6 @@ public:
 	 */
 	int finish();
 
-	/**
-	 * @see TemperatureCalibrationBase::reset_calibration()
-	 */
-	void reset_calibration();
-
 private:
 
 	virtual int update_sensor_instance(PerSensorData &data, int sensor_sub);

src/modules/temperature_compensation/temperature_calibration/task.cpp

@@ -163,16 +163,6 @@ void TemperatureCalibration::task_main()
 		}
 	}
 
-	// reset params
-	for (int i = 0; i < num_calibrators; ++i) {
-		calibrators[i]->reset_calibration();
-	}
-
-	// make sure the system updates the changed parameters
-	param_notify_changes();
-
-	px4_usleep(300000); // wait a bit for the system to apply the parameters
-
 	hrt_abstime next_progress_output = hrt_absolute_time() + 1e6;
 
 	// control LED's: blink, then turn solid according to progress