fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-13 12:47:35 +08:00
Code Issues Packages Projects Releases Wiki Activity
Files
81d6fdfe8cf1ea661be2915dff56c431fb7dcc96
PX4-Autopilot/src/modules/sensors/module.yaml
T
Daniel Agar 0c31f63896 sensors: add baro calibration and cleanup 
- sensor_baro.msg use SI (pressure in Pascals)
 - update all barometer drivers to publish directly and remove PX4Barometer helper
 - introduce baro cal (offset) mainly as a mechanism to adjust
relative priority
 - commander: add simple baro cal that sets baro offsets to align with
GPS altitude (if available)
 - create new sensors_status.msg to generalize sensor reporting
2022-03-26 16:08:41 -04:00

548 lines
18 KiB
YAML
Raw Blame History

__max_num_sensor_instances: &max_num_sensor_instances 4
module_name: sensors
parameters:
- group: Sensor Calibration
definitions:
# Accelerometer calibration
CAL_ACC${i}_ID:
description:
short: Accelerometer ${i} calibration device ID
long: Device ID of the accelerometer this calibration applies to.
category: System
type: int32
default: 0
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_ACC${i}_PRIO:
description:
short: Accelerometer ${i} priority
category: System
type: enum
values:
-1: Uninitialized
0: Disabled
1: Min
25: Low
50: Medium (Default)
75: High
100: Max
default: -1
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_ACC${i}_ROT:
description:
short: Accelerometer ${i} rotation relative to airframe
long: |
An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.
category: System
type: enum
values:
-1: Internal
0: No rotation
1: Yaw 45°
2: Yaw 90°
3: Yaw 135°
4: Yaw 180°
5: Yaw 225°
6: Yaw 270°
7: Yaw 315°
8: Roll 180°
9: Roll 180°, Yaw 45°
10: Roll 180°, Yaw 90°
11: Roll 180°, Yaw 135°
12: Pitch 180°
13: Roll 180°, Yaw 225°
14: Roll 180°, Yaw 270°
15: Roll 180°, Yaw 315°
16: Roll 90°
17: Roll 90°, Yaw 45°
18: Roll 90°, Yaw 90°
19: Roll 90°, Yaw 135°
20: Roll 270°
21: Roll 270°, Yaw 45°
22: Roll 270°, Yaw 90°
23: Roll 270°, Yaw 135°
24: Pitch 90°
25: Pitch 270°
26: Pitch 180°, Yaw 90°
27: Pitch 180°, Yaw 270°
28: Roll 90°, Pitch 90°
29: Roll 180°, Pitch 90°
30: Roll 270°, Pitch 90°
31: Roll 90°, Pitch 180°
32: Roll 270°, Pitch 180°
33: Roll 90°, Pitch 270°
34: Roll 180°, Pitch 270°
35: Roll 270°, Pitch 270°
36: Roll 90°, Pitch 180°, Yaw 90°
37: Roll 90°, Yaw 270°
38: Roll 90°, Pitch 68°, Yaw 293°
39: Pitch 315°
40: Roll 90°, Pitch 315°
min: -1
max: 40
default: -1
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_ACC${i}_XOFF:
description:
short: Accelerometer ${i} X-axis offset
category: System
type: float
default: 0.0
unit: m
volatile: true
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_ACC${i}_YOFF:
description:
short: Accelerometer ${i} Y-axis offset
category: System
type: float
default: 0.0
unit: m
volatile: true
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_ACC${i}_ZOFF:
description:
short: Accelerometer ${i} Z-axis offset
category: System
type: float
default: 0.0
unit: m
volatile: true
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_ACC${i}_XSCALE:
description:
short: Accelerometer ${i} X-axis scaling factor
category: System
type: float
default: 1.0
min: 0.1
max: 3.0
volatile: true
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_ACC${i}_YSCALE:
description:
short: Accelerometer ${i} Y-axis scaling factor
category: System
type: float
default: 1.0
min: 0.1
max: 3.0
volatile: true
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_ACC${i}_ZSCALE:
description:
short: Accelerometer ${i} Z-axis scaling factor
category: System
type: float
default: 1.0
min: 0.1
max: 3.0
volatile: true
num_instances: *max_num_sensor_instances
instance_start: 0
# Barometer calibration
CAL_BARO${i}_ID:
description:
short: Barometer ${i} calibration device ID
long: Device ID of the barometer this calibration applies to.
category: System
type: int32
default: 0
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_BARO${i}_PRIO:
description:
short: Barometer ${i} priority
category: System
type: enum
values:
-1: Uninitialized
0: Disabled
1: Min
25: Low
50: Medium (Default)
75: High
100: Max
default: -1
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_BARO${i}_OFF:
description:
short: Barometer ${i} offset
category: System
type: float
default: 0.0
#unit: Pa
volatile: true
num_instances: *max_num_sensor_instances
instance_start: 0
# Gyroscope calibration
CAL_GYRO${i}_ID:
description:
short: Gyroscope ${i} calibration device ID
long: Device ID of the gyroscope this calibration applies to.
category: System
type: int32
default: 0
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_GYRO${i}_PRIO:
description:
short: Gyroscope ${i} priority
category: System
type: enum
values:
-1: Uninitialized
0: Disabled
1: Min
25: Low
50: Medium (Default)
75: High
100: Max
default: -1
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_GYRO${i}_ROT:
description:
short: Gyroscope ${i} rotation relative to airframe
long: |
An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.
category: System
type: enum
values:
-1: Internal
0: No rotation
1: Yaw 45°
2: Yaw 90°
3: Yaw 135°
4: Yaw 180°
5: Yaw 225°
6: Yaw 270°
7: Yaw 315°
8: Roll 180°
9: Roll 180°, Yaw 45°
10: Roll 180°, Yaw 90°
11: Roll 180°, Yaw 135°
12: Pitch 180°
13: Roll 180°, Yaw 225°
14: Roll 180°, Yaw 270°
15: Roll 180°, Yaw 315°
16: Roll 90°
17: Roll 90°, Yaw 45°
18: Roll 90°, Yaw 90°
19: Roll 90°, Yaw 135°
20: Roll 270°
21: Roll 270°, Yaw 45°
22: Roll 270°, Yaw 90°
23: Roll 270°, Yaw 135°
24: Pitch 90°
25: Pitch 270°
26: Pitch 180°, Yaw 90°
27: Pitch 180°, Yaw 270°
28: Roll 90°, Pitch 90°
29: Roll 180°, Pitch 90°
30: Roll 270°, Pitch 90°
31: Roll 90°, Pitch 180°
32: Roll 270°, Pitch 180°
33: Roll 90°, Pitch 270°
34: Roll 180°, Pitch 270°
35: Roll 270°, Pitch 270°
36: Roll 90°, Pitch 180°, Yaw 90°
37: Roll 90°, Yaw 270°
38: Roll 90°, Pitch 68°, Yaw 293°
39: Pitch 315°
40: Roll 90°, Pitch 315°
min: -1
max: 40
default: -1
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_GYRO${i}_XOFF:
description:
short: Gyroscope ${i} X-axis offset
category: System
type: float
default: 0.0
unit: m
volatile: true
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_GYRO${i}_YOFF:
description:
short: Gyroscope ${i} Y-axis offset
category: System
type: float
default: 0.0
unit: m
volatile: true
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_GYRO${i}_ZOFF:
description:
short: Gyroscope ${i} Z-axis offset
category: System
type: float
default: 0.0
unit: m
volatile: true
num_instances: *max_num_sensor_instances
instance_start: 0
# Magnetometer calibration
CAL_MAG${i}_ID:
description:
short: Magnetometer ${i} calibration device ID
long: Device ID of the magnetometer this calibration applies to.
category: System
type: int32
default: 0
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_MAG${i}_PRIO:
description:
short: Magnetometer ${i} priority
category: System
type: enum
values:
-1: Uninitialized
0: Disabled
1: Min
25: Low
50: Medium (Default)
75: High
100: Max
default: -1
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_MAG${i}_ROT:
description:
short: Magnetometer ${i} rotation relative to airframe
long: |
An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.
category: System
type: enum
values:
-1: Internal
0: No rotation
1: Yaw 45°
2: Yaw 90°
3: Yaw 135°
4: Yaw 180°
5: Yaw 225°
6: Yaw 270°
7: Yaw 315°
8: Roll 180°
9: Roll 180°, Yaw 45°
10: Roll 180°, Yaw 90°
11: Roll 180°, Yaw 135°
12: Pitch 180°
13: Roll 180°, Yaw 225°
14: Roll 180°, Yaw 270°
15: Roll 180°, Yaw 315°
16: Roll 90°
17: Roll 90°, Yaw 45°
18: Roll 90°, Yaw 90°
19: Roll 90°, Yaw 135°
20: Roll 270°
21: Roll 270°, Yaw 45°
22: Roll 270°, Yaw 90°
23: Roll 270°, Yaw 135°
24: Pitch 90°
25: Pitch 270°
26: Pitch 180°, Yaw 90°
27: Pitch 180°, Yaw 270°
28: Roll 90°, Pitch 90°
29: Roll 180°, Pitch 90°
30: Roll 270°, Pitch 90°
31: Roll 90°, Pitch 180°
32: Roll 270°, Pitch 180°
33: Roll 90°, Pitch 270°
34: Roll 180°, Pitch 270°
35: Roll 270°, Pitch 270°
36: Roll 90°, Pitch 180°, Yaw 90°
37: Roll 90°, Yaw 270°
38: Roll 90°, Pitch 68°, Yaw 293°
39: Pitch 315°
40: Roll 90°, Pitch 315°
min: -1
max: 40
default: -1
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_MAG${i}_XOFF:
description:
short: Magnetometer ${i} X-axis offset
category: System
type: float
default: 0.0
unit: m
volatile: true
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_MAG${i}_YOFF:
description:
short: Magnetometer ${i} Y-axis offset
category: System
type: float
default: 0.0
unit: m
volatile: true
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_MAG${i}_ZOFF:
description:
short: Magnetometer ${i} Z-axis offset
category: System
type: float
default: 0.0
unit: m
volatile: true
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_MAG${i}_XSCALE:
description:
short: Magnetometer ${i} X-axis scaling factor
category: System
type: float
default: 1.0
min: 0.1
max: 3.0
volatile: true
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_MAG${i}_YSCALE:
description:
short: Magnetometer ${i} Y-axis scaling factor
category: System
type: float
default: 1.0
min: 0.1
max: 3.0
volatile: true
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_MAG${i}_ZSCALE:
description:
short: Magnetometer ${i} Z-axis scaling factor
category: System
type: float
default: 1.0
min: 0.1
max: 3.0
volatile: true
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_MAG${i}_XODIAG:
description:
short: Magnetometer ${i} X-axis off diagonal scale factor
category: System
type: float
default: 0.0
volatile: true
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_MAG${i}_YODIAG:
description:
short: Magnetometer ${i} Y-axis off diagonal scale factor
category: System
type: float
default: 0.0
volatile: true
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_MAG${i}_ZODIAG:
description:
short: Magnetometer ${i} Z-axis off diagonal scale factor
category: System
type: float
default: 0.0
volatile: true
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_MAG${i}_XCOMP:
description:
short: Magnetometer ${i} X Axis throttle compensation
long: |
Coefficient describing linear relationship between
X component of magnetometer in body frame axis
and either current or throttle depending on value of CAL_MAG_COMP_TYP.
Unit for throttle-based compensation is [G] and
for current-based compensation [G/kA]
category: System
type: float
default: 0.0
volatile: true
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_MAG${i}_YCOMP:
description:
short: Magnetometer ${i} Y Axis throttle compensation
long: |
Coefficient describing linear relationship between
Y component of magnetometer in body frame axis
and either current or throttle depending on value of CAL_MAG_COMP_TYP.
Unit for throttle-based compensation is [G] and
for current-based compensation [G/kA]
category: System
type: float
default: 0.0
volatile: true
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_MAG${i}_ZCOMP:
description:
short: Magnetometer ${i} Z Axis throttle compensation
long: |
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
type: float
default: 0.0
volatile: true
num_instances: *max_num_sensor_instances
instance_start: 0
Reference in New Issue View Git Blame Copy Permalink