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108 lines
3.3 KiB
C
108 lines
3.3 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2012-2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* Bitfield selecting mag sides for calibration
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*
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* If set to two side calibration, only the offsets are estimated, the scale
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* calibration is left unchanged. Thus an initial six side calibration is
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* recommended.
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*
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* Bits:
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* ORIENTATION_TAIL_DOWN = 1
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* ORIENTATION_NOSE_DOWN = 2
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* ORIENTATION_LEFT = 4
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* ORIENTATION_RIGHT = 8
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* ORIENTATION_UPSIDE_DOWN = 16
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* ORIENTATION_RIGHTSIDE_UP = 32
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*
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* @min 34
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* @max 63
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* @value 34 Two side calibration
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* @value 38 Three side calibration
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* @value 63 Six side calibration
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* @group Sensors
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*/
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PARAM_DEFINE_INT32(CAL_MAG_SIDES, 63);
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/**
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* Type of magnetometer compensation
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*
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* @value 0 Disabled
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* @value 1 Throttle-based compensation
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* @value 2 Current-based compensation (battery_status instance 0)
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* @value 3 Current-based compensation (battery_status instance 1)
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*
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* @category system
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* @group Sensor Calibration
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*/
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PARAM_DEFINE_INT32(CAL_MAG_COMP_TYP, 0);
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/**
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* Automatically set external rotations.
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*
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* During calibration attempt to automatically determine the rotation of external magnetometers.
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*
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* @boolean
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* @group Sensors
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*/
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PARAM_DEFINE_INT32(CAL_MAG_ROT_AUTO, 1);
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/**
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* Magnetometer max rate.
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*
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* Magnetometer data maximum publication rate. This is an upper bound,
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* actual magnetometer data rate is still dependant on the sensor.
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*
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* @min 1
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* @max 200
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* @group Sensors
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* @unit Hz
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*
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* @reboot_required true
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*
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*/
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PARAM_DEFINE_FLOAT(SENS_MAG_RATE, 50.0f);
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/**
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* Sensors hub mag mode
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*
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* @value 0 Publish all magnetometers
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* @value 1 Publish primary magnetometer
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*
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* @category system
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* @reboot_required true
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* @group Sensors
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*/
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PARAM_DEFINE_INT32(SENS_MAG_MODE, 1);
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