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calibration: add SYS_FAC_CAL_MODE parameter

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If set, stores calibration parameters in separate storage /fs/mtd_caldata.
This commit is contained in:
Beat Küng
2020-09-14 11:06:39 +02:00
parent f1f6ca21cb
commit ff3008c051
8 changed files with 244 additions and 0 deletions
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src/modules/commander/accelerometer_calibration.cpp
+23
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@@ -124,6 +124,7 @@
#include "calibration_messages.h"
#include "calibration_routines.h"
#include "commander_helper.h"
#include "factory_calibration_storage.h"
#include <px4_platform_common/defines.h>
#include <px4_platform_common/posix.h>
@@ -346,6 +347,13 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
return PX4_ERROR;
}
FactoryCalibrationStorage factory_storage;
if (factory_storage.open() != PX4_OK) {
calibration_log_critical(mavlink_log_pub, "ERROR: cannot open calibration storage");
return PX4_ERROR;
}
/* measure and calculate offsets & scales */
accel_worker_data_t worker_data{};
worker_data.mavlink_log_pub = mavlink_log_pub;
@@ -424,6 +432,10 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
}
}
if (!failed && factory_storage.store() != PX4_OK) {
failed = true;
}
if (param_save) {
param_notify_changes();
}
@@ -446,6 +458,13 @@ int do_accel_calibration_quick(orb_advert_t *mavlink_log_pub)
bool param_save = false;
bool failed = true;
FactoryCalibrationStorage factory_storage;
if (factory_storage.open() != PX4_OK) {
calibration_log_critical(mavlink_log_pub, "ERROR: cannot open calibration storage");
return PX4_ERROR;
}
// sensor thermal corrections (optional)
uORB::Subscription sensor_correction_sub{ORB_ID(sensor_correction)};
sensor_correction_s sensor_correction{};
@@ -566,6 +585,10 @@ int do_accel_calibration_quick(orb_advert_t *mavlink_log_pub)
}
}
if (!failed && factory_storage.store() != PX4_OK) {
failed = true;
}
if (param_save) {
param_notify_changes();
}