mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-18 01:37:35 +08:00
Anton Babushkin
658 lines
14 KiB
C
658 lines
14 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2012-2014 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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* @file sensor_params.c
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*
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* Parameters defined by the sensors task.
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*
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* @author Lorenz Meier <lm@inf.ethz.ch>
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* @author Julian Oes <joes@student.ethz.ch>
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* @author Thomas Gubler <thomasgubler@student.ethz.ch>
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*/
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#include <nuttx/config.h>
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#include <systemlib/param/param.h>
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/**
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* Gyro X-axis offset
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*
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* @min -10.0
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* @max 10.0
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* @group Sensor Calibration
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*/
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PARAM_DEFINE_FLOAT(SENS_GYRO_XOFF, 0.0f);
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/**
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* Gyro Y-axis offset
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*
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* @min -10.0
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* @max 10.0
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* @group Sensor Calibration
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*/
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PARAM_DEFINE_FLOAT(SENS_GYRO_YOFF, 0.0f);
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/**
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* Gyro Z-axis offset
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*
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* @min -5.0
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* @max 5.0
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* @group Sensor Calibration
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*/
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PARAM_DEFINE_FLOAT(SENS_GYRO_ZOFF, 0.0f);
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/**
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* Gyro X-axis scaling factor
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*
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* @min -1.5
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* @max 1.5
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* @group Sensor Calibration
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*/
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PARAM_DEFINE_FLOAT(SENS_GYRO_XSCALE, 1.0f);
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/**
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* Gyro Y-axis scaling factor
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*
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* @min -1.5
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* @max 1.5
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* @group Sensor Calibration
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*/
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PARAM_DEFINE_FLOAT(SENS_GYRO_YSCALE, 1.0f);
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/**
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* Gyro Z-axis scaling factor
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*
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* @min -1.5
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* @max 1.5
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* @group Sensor Calibration
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*/
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PARAM_DEFINE_FLOAT(SENS_GYRO_ZSCALE, 1.0f);
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/**
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* Magnetometer X-axis offset
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*
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* @min -500.0
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* @max 500.0
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* @group Sensor Calibration
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*/
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PARAM_DEFINE_FLOAT(SENS_MAG_XOFF, 0.0f);
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/**
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* Magnetometer Y-axis offset
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*
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* @min -500.0
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* @max 500.0
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* @group Sensor Calibration
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*/
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PARAM_DEFINE_FLOAT(SENS_MAG_YOFF, 0.0f);
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/**
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* Magnetometer Z-axis offset
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*
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* @min -500.0
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* @max 500.0
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* @group Sensor Calibration
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*/
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PARAM_DEFINE_FLOAT(SENS_MAG_ZOFF, 0.0f);
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/**
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* Magnetometer X-axis scaling factor
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*
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* @group Sensor Calibration
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*/
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PARAM_DEFINE_FLOAT(SENS_MAG_XSCALE, 1.0f);
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/**
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* Magnetometer Y-axis scaling factor
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*
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* @group Sensor Calibration
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*/
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PARAM_DEFINE_FLOAT(SENS_MAG_YSCALE, 1.0f);
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/**
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* Magnetometer Z-axis scaling factor
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*
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* @group Sensor Calibration
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*/
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PARAM_DEFINE_FLOAT(SENS_MAG_ZSCALE, 1.0f);
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/**
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* Accelerometer X-axis offset
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*
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* @group Sensor Calibration
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*/
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PARAM_DEFINE_FLOAT(SENS_ACC_XOFF, 0.0f);
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/**
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* Accelerometer Y-axis offset
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*
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* @group Sensor Calibration
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*/
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PARAM_DEFINE_FLOAT(SENS_ACC_YOFF, 0.0f);
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/**
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* Accelerometer Z-axis offset
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*
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* @group Sensor Calibration
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*/
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PARAM_DEFINE_FLOAT(SENS_ACC_ZOFF, 0.0f);
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/**
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* Accelerometer X-axis scaling factor
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*
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* @group Sensor Calibration
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*/
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PARAM_DEFINE_FLOAT(SENS_ACC_XSCALE, 1.0f);
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/**
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* Accelerometer Y-axis scaling factor
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*
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* @group Sensor Calibration
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*/
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PARAM_DEFINE_FLOAT(SENS_ACC_YSCALE, 1.0f);
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/**
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* Accelerometer Z-axis scaling factor
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*
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* @group Sensor Calibration
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*/
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PARAM_DEFINE_FLOAT(SENS_ACC_ZSCALE, 1.0f);
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/**
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* Differential pressure sensor offset
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*
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* @group Sensor Calibration
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*/
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PARAM_DEFINE_FLOAT(SENS_DPRES_OFF, 0.0f);
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/**
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* Differential pressure sensor analog enabled
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*
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* @group Sensor Calibration
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*/
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PARAM_DEFINE_INT32(SENS_DPRES_ANA, 0);
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/**
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* Board rotation
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*
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* This parameter defines the rotation of the FMU board relative to the platform.
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* Possible values are:
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* 0 = No rotation
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* 1 = Yaw 45°
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* 2 = Yaw 90°
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* 3 = Yaw 135°
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* 4 = Yaw 180°
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* 5 = Yaw 225°
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* 6 = Yaw 270°
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* 7 = Yaw 315°
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* 8 = Roll 180°
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* 9 = Roll 180°, Yaw 45°
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* 10 = Roll 180°, Yaw 90°
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* 11 = Roll 180°, Yaw 135°
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* 12 = Pitch 180°
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* 13 = Roll 180°, Yaw 225°
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* 14 = Roll 180°, Yaw 270°
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* 15 = Roll 180°, Yaw 315°
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* 16 = Roll 90°
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* 17 = Roll 90°, Yaw 45°
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* 18 = Roll 90°, Yaw 90°
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* 19 = Roll 90°, Yaw 135°
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* 20 = Roll 270°
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* 21 = Roll 270°, Yaw 45°
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* 22 = Roll 270°, Yaw 90°
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* 23 = Roll 270°, Yaw 135°
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* 24 = Pitch 90°
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* 25 = Pitch 270°
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*
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* @group Sensor Calibration
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*/
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PARAM_DEFINE_INT32(SENS_BOARD_ROT, 0);
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/**
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* External magnetometer rotation
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*
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* This parameter defines the rotation of the external magnetometer relative
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* to the platform (not relative to the FMU).
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* See SENS_BOARD_ROT for possible values.
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*
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* @group Sensor Calibration
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*/
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PARAM_DEFINE_INT32(SENS_EXT_MAG_ROT, 0);
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/**
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* RC Channel 1 Minimum
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*
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* Minimum value for RC channel 1
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*
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* @min 800.0
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* @max 1500.0
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* @group Radio Calibration
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*/
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PARAM_DEFINE_FLOAT(RC1_MIN, 1000.0f);
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/**
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* RC Channel 1 Trim
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*
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* Mid point value (same as min for throttle)
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*
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* @min 800.0
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* @max 2200.0
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* @group Radio Calibration
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*/
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PARAM_DEFINE_FLOAT(RC1_TRIM, 1500.0f);
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/**
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* RC Channel 1 Maximum
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*
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* Maximum value for RC channel 1
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*
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* @min 1500.0
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* @max 2200.0
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* @group Radio Calibration
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*/
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PARAM_DEFINE_FLOAT(RC1_MAX, 2000.0f);
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/**
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* RC Channel 1 Reverse
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*
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* Set to -1 to reverse channel.
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*
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* @min -1.0
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* @max 1.0
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* @group Radio Calibration
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*/
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PARAM_DEFINE_FLOAT(RC1_REV, 1.0f);
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/**
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* RC Channel 1 dead zone
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*
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* The +- range of this value around the trim value will be considered as zero.
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*
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* @min 0.0
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* @max 100.0
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* @group Radio Calibration
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*/
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PARAM_DEFINE_FLOAT(RC1_DZ, 10.0f);
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/**
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* RC Channel 2 Minimum
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*
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* Minimum value for RC channel 2
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*
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* @min 800.0
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* @max 1500.0
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* @group Radio Calibration
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*/
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PARAM_DEFINE_FLOAT(RC2_MIN, 1000.0f);
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/**
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* RC Channel 2 Trim
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*
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* Mid point value (same as min for throttle)
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*
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* @min 800.0
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* @max 2200.0
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* @group Radio Calibration
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*/
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PARAM_DEFINE_FLOAT(RC2_TRIM, 1500.0f);
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/**
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* RC Channel 2 Maximum
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*
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* Maximum value for RC channel 2
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*
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* @min 1500.0
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* @max 2200.0
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* @group Radio Calibration
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*/
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PARAM_DEFINE_FLOAT(RC2_MAX, 2000.0f);
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/**
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* RC Channel 2 Reverse
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*
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* Set to -1 to reverse channel.
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*
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* @min -1.0
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* @max 1.0
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* @group Radio Calibration
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*/
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PARAM_DEFINE_FLOAT(RC2_REV, 1.0f);
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/**
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* RC Channel 2 dead zone
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*
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* The +- range of this value around the trim value will be considered as zero.
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*
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* @min 0.0
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* @max 100.0
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* @group Radio Calibration
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*/
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PARAM_DEFINE_FLOAT(RC2_DZ, 10.0f);
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PARAM_DEFINE_FLOAT(RC3_MIN, 1000);
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PARAM_DEFINE_FLOAT(RC3_TRIM, 1500);
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PARAM_DEFINE_FLOAT(RC3_MAX, 2000);
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PARAM_DEFINE_FLOAT(RC3_REV, 1.0f);
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PARAM_DEFINE_FLOAT(RC3_DZ, 10.0f);
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PARAM_DEFINE_FLOAT(RC4_MIN, 1000);
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PARAM_DEFINE_FLOAT(RC4_TRIM, 1500);
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PARAM_DEFINE_FLOAT(RC4_MAX, 2000);
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PARAM_DEFINE_FLOAT(RC4_REV, 1.0f);
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PARAM_DEFINE_FLOAT(RC4_DZ, 10.0f);
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PARAM_DEFINE_FLOAT(RC5_MIN, 1000);
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PARAM_DEFINE_FLOAT(RC5_TRIM, 1500);
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PARAM_DEFINE_FLOAT(RC5_MAX, 2000);
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PARAM_DEFINE_FLOAT(RC5_REV, 1.0f);
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PARAM_DEFINE_FLOAT(RC5_DZ, 10.0f);
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PARAM_DEFINE_FLOAT(RC6_MIN, 1000);
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PARAM_DEFINE_FLOAT(RC6_TRIM, 1500);
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PARAM_DEFINE_FLOAT(RC6_MAX, 2000);
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PARAM_DEFINE_FLOAT(RC6_REV, 1.0f);
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PARAM_DEFINE_FLOAT(RC6_DZ, 10.0f);
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PARAM_DEFINE_FLOAT(RC7_MIN, 1000);
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PARAM_DEFINE_FLOAT(RC7_TRIM, 1500);
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PARAM_DEFINE_FLOAT(RC7_MAX, 2000);
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PARAM_DEFINE_FLOAT(RC7_REV, 1.0f);
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PARAM_DEFINE_FLOAT(RC7_DZ, 10.0f);
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PARAM_DEFINE_FLOAT(RC8_MIN, 1000);
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PARAM_DEFINE_FLOAT(RC8_TRIM, 1500);
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PARAM_DEFINE_FLOAT(RC8_MAX, 2000);
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PARAM_DEFINE_FLOAT(RC8_REV, 1.0f);
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PARAM_DEFINE_FLOAT(RC8_DZ, 10.0f);
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PARAM_DEFINE_FLOAT(RC9_MIN, 1000);
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PARAM_DEFINE_FLOAT(RC9_TRIM, 1500);
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PARAM_DEFINE_FLOAT(RC9_MAX, 2000);
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PARAM_DEFINE_FLOAT(RC9_REV, 1.0f);
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PARAM_DEFINE_FLOAT(RC9_DZ, 0.0f);
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PARAM_DEFINE_FLOAT(RC10_MIN, 1000);
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PARAM_DEFINE_FLOAT(RC10_TRIM, 1500);
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PARAM_DEFINE_FLOAT(RC10_MAX, 2000);
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PARAM_DEFINE_FLOAT(RC10_REV, 1.0f);
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PARAM_DEFINE_FLOAT(RC10_DZ, 0.0f);
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PARAM_DEFINE_FLOAT(RC11_MIN, 1000);
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PARAM_DEFINE_FLOAT(RC11_TRIM, 1500);
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PARAM_DEFINE_FLOAT(RC11_MAX, 2000);
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PARAM_DEFINE_FLOAT(RC11_REV, 1.0f);
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PARAM_DEFINE_FLOAT(RC11_DZ, 0.0f);
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PARAM_DEFINE_FLOAT(RC12_MIN, 1000);
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PARAM_DEFINE_FLOAT(RC12_TRIM, 1500);
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PARAM_DEFINE_FLOAT(RC12_MAX, 2000);
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PARAM_DEFINE_FLOAT(RC12_REV, 1.0f);
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PARAM_DEFINE_FLOAT(RC12_DZ, 0.0f);
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PARAM_DEFINE_FLOAT(RC13_MIN, 1000);
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PARAM_DEFINE_FLOAT(RC13_TRIM, 1500);
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PARAM_DEFINE_FLOAT(RC13_MAX, 2000);
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PARAM_DEFINE_FLOAT(RC13_REV, 1.0f);
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PARAM_DEFINE_FLOAT(RC13_DZ, 0.0f);
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PARAM_DEFINE_FLOAT(RC14_MIN, 1000);
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PARAM_DEFINE_FLOAT(RC14_TRIM, 1500);
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PARAM_DEFINE_FLOAT(RC14_MAX, 2000);
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PARAM_DEFINE_FLOAT(RC14_REV, 1.0f);
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PARAM_DEFINE_FLOAT(RC14_DZ, 0.0f);
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PARAM_DEFINE_FLOAT(RC15_MIN, 1000);
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PARAM_DEFINE_FLOAT(RC15_TRIM, 1500);
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PARAM_DEFINE_FLOAT(RC15_MAX, 2000);
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PARAM_DEFINE_FLOAT(RC15_REV, 1.0f);
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PARAM_DEFINE_FLOAT(RC15_DZ, 0.0f);
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PARAM_DEFINE_FLOAT(RC16_MIN, 1000);
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PARAM_DEFINE_FLOAT(RC16_TRIM, 1500);
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PARAM_DEFINE_FLOAT(RC16_MAX, 2000);
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PARAM_DEFINE_FLOAT(RC16_REV, 1.0f);
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PARAM_DEFINE_FLOAT(RC16_DZ, 0.0f);
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PARAM_DEFINE_FLOAT(RC17_MIN, 1000);
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PARAM_DEFINE_FLOAT(RC17_TRIM, 1500);
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PARAM_DEFINE_FLOAT(RC17_MAX, 2000);
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PARAM_DEFINE_FLOAT(RC17_REV, 1.0f);
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PARAM_DEFINE_FLOAT(RC17_DZ, 0.0f);
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PARAM_DEFINE_FLOAT(RC18_MIN, 1000);
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PARAM_DEFINE_FLOAT(RC18_TRIM, 1500);
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PARAM_DEFINE_FLOAT(RC18_MAX, 2000);
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PARAM_DEFINE_FLOAT(RC18_REV, 1.0f);
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PARAM_DEFINE_FLOAT(RC18_DZ, 0.0f);
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#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
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PARAM_DEFINE_INT32(RC_RL1_DSM_VCC, 0); /* Relay 1 controls DSM VCC */
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#endif
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/**
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* DSM binding trigger.
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*
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* -1 = Idle, 0 = Start DSM2 bind, 1 = Start DSMX bind
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*
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* @group Radio Calibration
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*/
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PARAM_DEFINE_INT32(RC_DSM_BIND, -1);
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/**
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* Scaling factor for battery voltage sensor on PX4IO.
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*
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* @group Battery Calibration
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*/
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PARAM_DEFINE_INT32(BAT_V_SCALE_IO, 10000);
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#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
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/**
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* Scaling factor for battery voltage sensor on FMU v2.
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*
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* @group Battery Calibration
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*/
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PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.0082f);
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#else
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/**
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* Scaling factor for battery voltage sensor on FMU v1.
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*
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* FMUv1 standalone: 1/(10 / (47+10)) * (3.3 / 4095) = 0.00459340659
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* FMUv1 with PX4IO: 0.00459340659
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* FMUv1 with PX4IOAR: (3.3f * 52.0f / 5.0f / 4095.0f) = 0.00838095238
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*
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* @group Battery Calibration
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*/
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PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.00459340659f);
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#endif
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/**
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* Scaling factor for battery current sensor.
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*
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* @group Battery Calibration
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*/
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PARAM_DEFINE_FLOAT(BAT_C_SCALING, 0.0124); /* scaling for 3DR power brick */
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/**
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* Roll control channel mapping.
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*
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* The channel index (starting from 1 for channel 1) indicates
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* which channel should be used for reading roll inputs from.
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* A value of zero indicates the switch is not assigned.
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*
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* @min 0
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* @max 18
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* @group Radio Calibration
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*/
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PARAM_DEFINE_INT32(RC_MAP_ROLL, 1);
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/**
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* Pitch control channel mapping.
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*
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* The channel index (starting from 1 for channel 1) indicates
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* which channel should be used for reading pitch inputs from.
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* A value of zero indicates the switch is not assigned.
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*
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* @min 0
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* @max 18
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* @group Radio Calibration
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*/
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PARAM_DEFINE_INT32(RC_MAP_PITCH, 2);
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/**
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* Throttle control channel mapping.
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*
|
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* The channel index (starting from 1 for channel 1) indicates
|
|
* which channel should be used for reading throttle inputs from.
|
|
* A value of zero indicates the switch is not assigned.
|
|
*
|
|
* @min 0
|
|
* @max 18
|
|
* @group Radio Calibration
|
|
*/
|
|
PARAM_DEFINE_INT32(RC_MAP_THROTTLE, 3);
|
|
|
|
/**
|
|
* Yaw control channel mapping.
|
|
*
|
|
* The channel index (starting from 1 for channel 1) indicates
|
|
* which channel should be used for reading yaw inputs from.
|
|
* A value of zero indicates the switch is not assigned.
|
|
*
|
|
* @min 0
|
|
* @max 18
|
|
* @group Radio Calibration
|
|
*/
|
|
PARAM_DEFINE_INT32(RC_MAP_YAW, 4);
|
|
|
|
/**
|
|
* Mode switch channel mapping.
|
|
*
|
|
* This is the main flight mode selector.
|
|
* The channel index (starting from 1 for channel 1) indicates
|
|
* which channel should be used for deciding about the main mode.
|
|
* A value of zero indicates the switch is not assigned.
|
|
*
|
|
* @min 0
|
|
* @max 18
|
|
* @group Radio Calibration
|
|
*/
|
|
PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 0);
|
|
|
|
/**
|
|
* Return switch channel mapping.
|
|
*
|
|
* @min 0
|
|
* @max 18
|
|
* @group Radio Calibration
|
|
*/
|
|
PARAM_DEFINE_INT32(RC_MAP_RETURN_SW, 0);
|
|
|
|
/**
|
|
* Assist switch channel mapping.
|
|
*
|
|
* @min 0
|
|
* @max 18
|
|
* @group Radio Calibration
|
|
*/
|
|
PARAM_DEFINE_INT32(RC_MAP_ASSIST_SW, 0);
|
|
|
|
/**
|
|
* Loiter switch channel mapping.
|
|
*
|
|
* @min 0
|
|
* @max 18
|
|
* @group Radio Calibration
|
|
*/
|
|
PARAM_DEFINE_INT32(RC_MAP_LOITER_SW, 0);
|
|
|
|
//PARAM_DEFINE_INT32(RC_MAP_OFFB_SW, 0);
|
|
|
|
/**
|
|
* Flaps channel mapping.
|
|
*
|
|
* @min 0
|
|
* @max 18
|
|
* @group Radio Calibration
|
|
*/
|
|
PARAM_DEFINE_INT32(RC_MAP_FLAPS, 0);
|
|
|
|
/**
|
|
* Auxiliary switch 1 channel mapping.
|
|
*
|
|
* Default function: Camera pitch
|
|
*
|
|
* @min 0
|
|
* @max 18
|
|
* @group Radio Calibration
|
|
*/
|
|
PARAM_DEFINE_INT32(RC_MAP_AUX1, 0);
|
|
|
|
/**
|
|
* Auxiliary switch 2 channel mapping.
|
|
*
|
|
* Default function: Camera roll
|
|
*
|
|
* @min 0
|
|
* @max 18
|
|
* @group Radio Calibration
|
|
*/
|
|
PARAM_DEFINE_INT32(RC_MAP_AUX2, 0); /**< default function: camera roll */
|
|
|
|
/**
|
|
* Auxiliary switch 3 channel mapping.
|
|
*
|
|
* Default function: Camera azimuth / yaw
|
|
*
|
|
* @min 0
|
|
* @max 18
|
|
* @group Radio Calibration
|
|
*/
|
|
PARAM_DEFINE_INT32(RC_MAP_AUX3, 0);
|
|
|
|
|
|
/**
|
|
* Failsafe channel PWM threshold.
|
|
*
|
|
* @min 800
|
|
* @max 2200
|
|
* @group Radio Calibration
|
|
*/
|
|
PARAM_DEFINE_INT32(RC_FAILS_THR, 0);
|