mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-30 11:10:35 +08:00
Daniel Agar
141 lines
3.9 KiB
C
141 lines
3.9 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2012-2018 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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* ID of Magnetometer the calibration is for.
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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_MAG2_ID, 0);
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/**
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* Mag 2 enabled
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*
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* @boolean
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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_MAG2_EN, 1);
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/**
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* Rotation of magnetometer 2 relative to airframe.
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*
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* An internal magnetometer will force a value of -1, so a GCS
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* should only attempt to configure the rotation if the value is
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* greater than or equal to zero.
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*
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* @value -1 Internal mag
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* @value 0 No rotation
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* @value 1 Yaw 45°
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* @value 2 Yaw 90°
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* @value 3 Yaw 135°
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* @value 4 Yaw 180°
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* @value 5 Yaw 225°
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* @value 6 Yaw 270°
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* @value 7 Yaw 315°
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* @value 8 Roll 180°
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* @value 9 Roll 180°, Yaw 45°
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* @value 10 Roll 180°, Yaw 90°
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* @value 11 Roll 180°, Yaw 135°
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* @value 12 Pitch 180°
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* @value 13 Roll 180°, Yaw 225°
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* @value 14 Roll 180°, Yaw 270°
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* @value 15 Roll 180°, Yaw 315°
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* @value 16 Roll 90°
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* @value 17 Roll 90°, Yaw 45°
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* @value 18 Roll 90°, Yaw 90°
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* @value 19 Roll 90°, Yaw 135°
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* @value 20 Roll 270°
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* @value 21 Roll 270°, Yaw 45°
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* @value 22 Roll 270°, Yaw 90°
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* @value 23 Roll 270°, Yaw 135°
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* @value 24 Pitch 90°
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* @value 25 Pitch 270°
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*
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* @min -1
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* @max 30
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* @reboot_required true
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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_MAG2_ROT, -1);
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/**
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* Magnetometer X-axis offset
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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_FLOAT(CAL_MAG2_XOFF, 0.0f);
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/**
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* Magnetometer Y-axis offset
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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_FLOAT(CAL_MAG2_YOFF, 0.0f);
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/**
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* Magnetometer Z-axis offset
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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_FLOAT(CAL_MAG2_ZOFF, 0.0f);
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/**
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* Magnetometer X-axis scaling factor
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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_FLOAT(CAL_MAG2_XSCALE, 1.0f);
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/**
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* Magnetometer Y-axis scaling factor
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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_FLOAT(CAL_MAG2_YSCALE, 1.0f);
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/**
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* Magnetometer Z-axis scaling factor
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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_FLOAT(CAL_MAG2_ZSCALE, 1.0f);
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