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sensor calibration: save temperature at calibration time for monitoring

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This commit is contained in:
Daniel Agar
2021-08-15 11:19:24 -04:00
parent a76bcd3e01
commit ff39e27e2d
29 changed files with 295 additions and 41 deletions
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src/lib/sensor_calibration/Utilities.hpp
+22 -2
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@@ -33,7 +33,11 @@
#pragma once
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/log.h>
#include <lib/conversion/rotation.h>
#include <lib/mathlib/mathlib.h>
#include <lib/parameters/param.h>
#include <matrix/math.hpp>
namespace calibration
@@ -56,7 +60,8 @@ int8_t FindCalibrationIndex(const char *sensor_type, uint32_t device_id);
* @param instance
* @return int32_t The calibration value.
*/
int32_t GetCalibrationParam(const char *sensor_type, const char *cal_type, uint8_t instance);
int32_t GetCalibrationParamInt32(const char *sensor_type, const char *cal_type, uint8_t instance);
float GetCalibrationParamFloat(const char *sensor_type, const char *cal_type, uint8_t instance);
/**
* @brief Set a single calibration paramter.
@@ -67,7 +72,22 @@ int32_t GetCalibrationParam(const char *sensor_type, const char *cal_type, uint8
* @param value int32_t parameter value
* @return true if the parameter name was valid and value saved successfully, false otherwise.
*/
bool SetCalibrationParam(const char *sensor_type, const char *cal_type, uint8_t instance, int32_t value);
template<typename T>
bool SetCalibrationParam(const char *sensor_type, const char *cal_type, uint8_t instance, T value)
{
char str[20] {};
// eg CAL_MAGn_ID/CAL_MAGn_ROT
sprintf(str, "CAL_%s%u_%s", sensor_type, instance, cal_type);
int ret = param_set_no_notification(param_find(str), &value);
if (ret != PX4_OK) {
PX4_ERR("failed to set %s", str);
}
return ret == PX4_OK;
}
/**
* @brief Get the Calibration Params Vector 3f object