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sensors: print status of temp compensation with 'sensors status'

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This commit is contained in:
Beat Küng 2017-01-19 08:01:29 +01:00 committed by Lorenz Meier
parent 916a04bc56
commit fd48d9c190
3 changed files with 45 additions and 1 deletions
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42
src/modules/sensors/temperature_compensation.cpp
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@ -41,8 +41,8 @@
#include "temperature_compensation.h"
#include <systemlib/param/param.h>
#include <stdio.h>
#include <px4_defines.h>
#include <px4_log.h>
namespace sensors
{
@ -422,4 +422,44 @@ int TemperatureCompensation::apply_corrections_baro(int topic_instance, float &s
return 1;
}
void TemperatureCompensation::print_status()
{
PX4_INFO("Temperature Compensation:");
PX4_INFO(" gyro: enabled: %i", _parameters.gyro_tc_enable);
if (_parameters.gyro_tc_enable == 1) {
for (int i = 0; i < SENSOR_COUNT_MAX; ++i) {
uint8_t mapping = _gyro_data.device_mapping[i];
if (_gyro_data.device_mapping[i] != 255) {
PX4_INFO(" using device ID %i for topic instance %i", _parameters.gyro_cal_data[mapping].ID, i);
}
}
}
PX4_INFO(" accel: enabled: %i", _parameters.accel_tc_enable);
if (_parameters.accel_tc_enable == 1) {
for (int i = 0; i < SENSOR_COUNT_MAX; ++i) {
uint8_t mapping = _accel_data.device_mapping[i];
if (_accel_data.device_mapping[i] != 255) {
PX4_INFO(" using device ID %i for topic instance %i", _parameters.accel_cal_data[mapping].ID, i);
}
}
}
PX4_INFO(" baro: enabled: %i", _parameters.baro_tc_enable);
if (_parameters.baro_tc_enable == 1) {
for (int i = 0; i < SENSOR_COUNT_MAX; ++i) {
uint8_t mapping = _baro_data.device_mapping[i];
if (_baro_data.device_mapping[i] != 255) {
PX4_INFO(" using device ID %i for topic instance %i", _parameters.baro_cal_data[mapping].ID, i);
}
}
}
}
}

2
src/modules/sensors/temperature_compensation.h
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@ -91,6 +91,8 @@ public:
int apply_corrections_baro(int topic_instance, float &sensor_data, float temperature,
float *offsets, float *scales);
/** output current configuration status to console */
void print_status();
private:
/* Struct containing parameters used by the single axis 5th order temperature compensation algorithm

2
src/modules/sensors/voted_sensors_update.cpp
View File

@ -873,6 +873,8 @@ void VotedSensorsUpdate::print_status()
_mag.voter.print();
PX4_INFO("baro status:");
_baro.voter.print();
_temperature_compensation.print_status();
}
bool