mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-05 11:30:34 +08:00
Beat Küng
c4b91c8558
- NaN is not supported by JSON, and leads to parsing failure in QGC. - fixes https://github.com/PX4/PX4-Autopilot/issues/18095
250 lines
6.5 KiB
C
250 lines
6.5 KiB
C
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2012-2020 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
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/**
|
|
* ID of Magnetometer the calibration is for.
|
|
*
|
|
* @category system
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_INT32(CAL_MAG2_ID, 0);
|
|
|
|
/**
|
|
* Mag 2 priority.
|
|
*
|
|
* @value -1 Uninitialized
|
|
* @value 0 Disabled
|
|
* @value 1 Min
|
|
* @value 25 Low
|
|
* @value 50 Medium (Default)
|
|
* @value 75 High
|
|
* @value 100 Max
|
|
*
|
|
* @category system
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_INT32(CAL_MAG2_PRIO, -1);
|
|
|
|
/**
|
|
* Rotation of magnetometer 2 relative to airframe.
|
|
*
|
|
* An internal sensor will force a value of -1, so a GCS
|
|
* should only attempt to configure the rotation if the value is
|
|
* greater than or equal to zero.
|
|
*
|
|
* @value -1 Internal
|
|
* @value 0 No rotation
|
|
* @value 1 Yaw 45°
|
|
* @value 2 Yaw 90°
|
|
* @value 3 Yaw 135°
|
|
* @value 4 Yaw 180°
|
|
* @value 5 Yaw 225°
|
|
* @value 6 Yaw 270°
|
|
* @value 7 Yaw 315°
|
|
* @value 8 Roll 180°
|
|
* @value 9 Roll 180°, Yaw 45°
|
|
* @value 10 Roll 180°, Yaw 90°
|
|
* @value 11 Roll 180°, Yaw 135°
|
|
* @value 12 Pitch 180°
|
|
* @value 13 Roll 180°, Yaw 225°
|
|
* @value 14 Roll 180°, Yaw 270°
|
|
* @value 15 Roll 180°, Yaw 315°
|
|
* @value 16 Roll 90°
|
|
* @value 17 Roll 90°, Yaw 45°
|
|
* @value 18 Roll 90°, Yaw 90°
|
|
* @value 19 Roll 90°, Yaw 135°
|
|
* @value 20 Roll 270°
|
|
* @value 21 Roll 270°, Yaw 45°
|
|
* @value 22 Roll 270°, Yaw 90°
|
|
* @value 23 Roll 270°, Yaw 135°
|
|
* @value 24 Pitch 90°
|
|
* @value 25 Pitch 270°
|
|
* @value 26 Pitch 180°, Yaw 90°
|
|
* @value 27 Pitch 180°, Yaw 270°
|
|
* @value 28 Roll 90°, Pitch 90°
|
|
* @value 29 Roll 180°, Pitch 90°
|
|
* @value 30 Roll 270°, Pitch 90°
|
|
* @value 31 Roll 90°, Pitch 180°
|
|
* @value 32 Roll 270°, Pitch 180°
|
|
* @value 33 Roll 90°, Pitch 270°
|
|
* @value 34 Roll 180°, Pitch 270°
|
|
* @value 35 Roll 270°, Pitch 270°
|
|
* @value 36 Roll 90°, Pitch 180°, Yaw 90°
|
|
* @value 37 Roll 90°, Yaw 270°
|
|
* @value 38 Roll 90°, Pitch 68°, Yaw 293°
|
|
* @value 39 Pitch 315°
|
|
* @value 40 Roll 90°, Pitch 315°
|
|
*
|
|
* @min -1
|
|
* @max 40
|
|
* @reboot_required true
|
|
* @category system
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_INT32(CAL_MAG2_ROT, -1);
|
|
|
|
/**
|
|
* Magnetometer X-axis offset
|
|
*
|
|
* @category system
|
|
* @group Sensor Calibration
|
|
* @volatile
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_MAG2_XOFF, 0.0f);
|
|
|
|
/**
|
|
* Magnetometer Y-axis offset
|
|
*
|
|
* @category system
|
|
* @group Sensor Calibration
|
|
* @volatile
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_MAG2_YOFF, 0.0f);
|
|
|
|
/**
|
|
* Magnetometer Z-axis offset
|
|
*
|
|
* @category system
|
|
* @group Sensor Calibration
|
|
* @volatile
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_MAG2_ZOFF, 0.0f);
|
|
|
|
/**
|
|
* Magnetometer X-axis scaling factor
|
|
*
|
|
* @category system
|
|
* @group Sensor Calibration
|
|
* @volatile
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_MAG2_XSCALE, 1.0f);
|
|
|
|
/**
|
|
* Magnetometer Y-axis scaling factor
|
|
*
|
|
* @category system
|
|
* @group Sensor Calibration
|
|
* @volatile
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_MAG2_YSCALE, 1.0f);
|
|
|
|
/**
|
|
* Magnetometer Z-axis scaling factor
|
|
*
|
|
* @category system
|
|
* @group Sensor Calibration
|
|
* @volatile
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_MAG2_ZSCALE, 1.0f);
|
|
|
|
/**
|
|
* Magnetometer X-axis off diagonal factor
|
|
*
|
|
* @category system
|
|
* @group Sensor Calibration
|
|
* @volatile
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_MAG2_XODIAG, 0.0f);
|
|
|
|
/**
|
|
* Magnetometer Y-axis off diagonal factor
|
|
*
|
|
* @category system
|
|
* @group Sensor Calibration
|
|
* @volatile
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_MAG2_YODIAG, 0.0f);
|
|
|
|
/**
|
|
* Magnetometer Z-axis off diagonal factor
|
|
*
|
|
* @category system
|
|
* @group Sensor Calibration
|
|
* @volatile
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_MAG2_ZODIAG, 0.0f);
|
|
|
|
/**
|
|
* X Axis throttle compensation for Mag 2
|
|
*
|
|
* Coefficient describing linear relationship between
|
|
* X component of magnetometer in body frame axis
|
|
* and either current or throttle depending on value of CAL_MAG_COMP_TYP.
|
|
* Unit for throttle-based compensation is [G] and
|
|
* for current-based compensation [G/kA]
|
|
*
|
|
* @category system
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_MAG2_XCOMP, 0.0f);
|
|
|
|
/**
|
|
* Y Axis throttle compensation for Mag 2
|
|
*
|
|
* Coefficient describing linear relationship between
|
|
* Y component of magnetometer in body frame axis
|
|
* and either current or throttle depending on value of CAL_MAG_COMP_TYP.
|
|
* Unit for throttle-based compensation is [G] and
|
|
* for current-based compensation [G/kA]
|
|
*
|
|
* @category system
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_MAG2_YCOMP, 0.0f);
|
|
|
|
/**
|
|
* Z Axis throttle compensation for Mag 2
|
|
*
|
|
* Coefficient describing linear relationship between
|
|
* Z component of magnetometer in body frame axis
|
|
* and either current or throttle depending on value of CAL_MAG_COMP_TYP.
|
|
* Unit for throttle-based compensation is [G] and
|
|
* for current-based compensation [G/kA]
|
|
*
|
|
* @category system
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_MAG2_ZCOMP, 0.0f);
|
|
|
|
/**
|
|
* Magnetometer calibration temperature
|
|
*
|
|
* Temperature during last calibration.
|
|
*
|
|
* @unit celcius
|
|
* @category system
|
|
* @group Sensor Calibration
|
|
* @volatile
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_MAG2_TEMP, -1000.f);
|