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sensor calibration: save temperature at calibration time for monitoring

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This commit is contained in:
Daniel Agar
2021-04-01 11:24:53 -04:00
parent a76bcd3e01
commit ff39e27e2d
29 changed files with 295 additions and 41 deletions
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src/lib/sensor_calibration/Magnetometer.cpp
+16 -6
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2020, 2021 PX4 Development Team. All rights reserved.
* Copyright (c) 2020-2021 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
@@ -154,7 +154,7 @@ void Magnetometer::ParametersUpdate()
if (_calibration_index >= 0) {
// CAL_MAGx_ROT
int32_t rotation_value = GetCalibrationParam(SensorString(), "ROT", _calibration_index);
int32_t rotation_value = GetCalibrationParamInt32(SensorString(), "ROT", _calibration_index);
if (_external) {
if ((rotation_value >= ROTATION_MAX) || (rotation_value < 0)) {
@@ -179,7 +179,7 @@ void Magnetometer::ParametersUpdate()
}
// CAL_MAGx_PRIO
_priority = GetCalibrationParam(SensorString(), "PRIO", _calibration_index);
_priority = GetCalibrationParamInt32(SensorString(), "PRIO", _calibration_index);
if ((_priority < 0) || (_priority > 100)) {
// reset to default, -1 is the uninitialized parameter value
@@ -194,6 +194,9 @@ void Magnetometer::ParametersUpdate()
_priority = new_priority;
}
// CAL_MAGx_TEMP
set_temperature(GetCalibrationParamFloat(SensorString(), "TEMP", _calibration_index));
// CAL_MAGx_OFF{X,Y,Z}
set_offset(GetCalibrationParamsVector3f(SensorString(), "OFF", _calibration_index));
@@ -227,6 +230,8 @@ void Magnetometer::Reset()
_power_compensation.zero();
_power = 0.f;
_temperature = NAN;
_priority = _external ? DEFAULT_EXTERNAL_PRIORITY : DEFAULT_PRIORITY;
_calibration_index = -1;
@@ -258,6 +263,8 @@ bool Magnetometer::ParametersSave()
success &= SetCalibrationParam(SensorString(), "ROT", _calibration_index, -1);
}
success &= SetCalibrationParam(SensorString(), "TEMP", _calibration_index, _temperature);
return success;
}
@@ -267,17 +274,20 @@ bool Magnetometer::ParametersSave()
void Magnetometer::PrintStatus()
{
if (external()) {
PX4_INFO("%s %" PRIu32 " EN: %d, offset: [% 05.3f % 05.3f % 05.3f], scale: [% 05.3f % 05.3f % 05.3f], External ROT: %d",
PX4_INFO("%s %" PRIu32
" EN: %d, offset: [%05.3f %05.3f %05.3f], scale: [%05.3f %05.3f %05.3f], %.1f degC, External ROT: %d",
SensorString(), device_id(), enabled(),
(double)_offset(0), (double)_offset(1), (double)_offset(2),
(double)_scale(0, 0), (double)_scale(1, 1), (double)_scale(2, 2),
(double)_temperature,
rotation_enum());
} else {
PX4_INFO("%s %" PRIu32 " EN: %d, offset: [% 05.3f % 05.3f % 05.3f], scale: [% 05.3f % 05.3f % 05.3f], Internal",
PX4_INFO("%s %" PRIu32 " EN: %d, offset: [%05.3f %05.3f %05.3f], scale: [%05.3f %05.3f %05.3f], %.1f degC, Internal",
SensorString(), device_id(), enabled(),
(double)_offset(0), (double)_offset(1), (double)_offset(2),
(double)_scale(0, 0), (double)_scale(1, 1), (double)_scale(2, 2));
(double)_scale(0, 0), (double)_scale(1, 1), (double)_scale(2, 2),
(double)_temperature);
}
#if defined(DEBUG_BUILD)