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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/modules/sensors/sensors.cpp
+9 -9
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@@ -319,22 +319,22 @@ int Sensors::parameters_update()
// mark all existing sensor calibrations active even if sensor is missing
// this preserves the calibration in the event of a parameter export while the sensor is missing
for (int i = 0; i < MAX_SENSOR_COUNT; i++) {
uint32_t device_id_accel = calibration::GetCalibrationParam("ACC", "ID", i);
uint32_t device_id_gyro = calibration::GetCalibrationParam("GYRO", "ID", i);
uint32_t device_id_mag = calibration::GetCalibrationParam("MAG", "ID", i);
uint32_t device_id_accel = calibration::GetCalibrationParamInt32("ACC", "ID", i);
uint32_t device_id_gyro = calibration::GetCalibrationParamInt32("GYRO", "ID", i);
uint32_t device_id_mag = calibration::GetCalibrationParamInt32("MAG", "ID", i);
if (device_id_accel != 0) {
bool external_accel = (calibration::GetCalibrationParam("ACC", "ROT", i) >= 0);
bool external_accel = (calibration::GetCalibrationParamInt32("ACC", "ROT", i) >= 0);
calibration::Accelerometer accel_cal(device_id_accel, external_accel);
}
if (device_id_gyro != 0) {
bool external_gyro = (calibration::GetCalibrationParam("GYRO", "ROT", i) >= 0);
bool external_gyro = (calibration::GetCalibrationParamInt32("GYRO", "ROT", i) >= 0);
calibration::Gyroscope gyro_cal(device_id_gyro, external_gyro);
}
if (device_id_mag != 0) {
bool external_mag = (calibration::GetCalibrationParam("MAG", "ROT", i) >= 0);
bool external_mag = (calibration::GetCalibrationParamInt32("MAG", "ROT", i) >= 0);
calibration::Magnetometer mag_cal(device_id_mag, external_mag);
}
}
@@ -343,21 +343,21 @@ int Sensors::parameters_update()
// this to done to eliminate differences in the active set of parameters before and after sensor calibration
for (int i = 0; i < MAX_SENSOR_COUNT; i++) {
if (orb_exists(ORB_ID(sensor_accel), i) == PX4_OK) {
bool external = (calibration::GetCalibrationParam("ACC", "ROT", i) >= 0);
bool external = (calibration::GetCalibrationParamInt32("ACC", "ROT", i) >= 0);
calibration::Accelerometer cal{0, external};
cal.set_calibration_index(i);
cal.ParametersUpdate();
}
if (orb_exists(ORB_ID(sensor_gyro), i) == PX4_OK) {
bool external = (calibration::GetCalibrationParam("GYRO", "ROT", i) >= 0);
bool external = (calibration::GetCalibrationParamInt32("GYRO", "ROT", i) >= 0);
calibration::Gyroscope cal{0, external};
cal.set_calibration_index(i);
cal.ParametersUpdate();
}
if (orb_exists(ORB_ID(sensor_mag), i) == PX4_OK) {
bool external = (calibration::GetCalibrationParam("MAG", "ROT", i) >= 0);
bool external = (calibration::GetCalibrationParamInt32("MAG", "ROT", i) >= 0);
calibration::Magnetometer cal{0, external};
cal.set_calibration_index(i);
cal.ParametersUpdate();