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
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2012-2018 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_MAG3_ID, 0);
|
|
|
|
/**
|
|
* Mag 3 enabled
|
|
*
|
|
* @boolean
|
|
* @category system
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_INT32(CAL_MAG3_EN, 1);
|
|
|
|
/**
|
|
* Rotation of magnetometer 2 relative to airframe.
|
|
*
|
|
* An internal magnetometer 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 mag
|
|
* @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°
|
|
*
|
|
* @min -1
|
|
* @max 30
|
|
* @reboot_required true
|
|
* @category system
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_INT32(CAL_MAG3_ROT, -1);
|
|
|
|
/**
|
|
* Magnetometer X-axis offset
|
|
*
|
|
* @category system
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_MAG3_XOFF, 0.0f);
|
|
|
|
/**
|
|
* Magnetometer Y-axis offset
|
|
*
|
|
* @category system
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_MAG3_YOFF, 0.0f);
|
|
|
|
/**
|
|
* Magnetometer Z-axis offset
|
|
*
|
|
* @category system
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_MAG3_ZOFF, 0.0f);
|
|
|
|
/**
|
|
* Magnetometer X-axis scaling factor
|
|
*
|
|
* @category system
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_MAG3_XSCALE, 1.0f);
|
|
|
|
/**
|
|
* Magnetometer Y-axis scaling factor
|
|
*
|
|
* @category system
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_MAG3_YSCALE, 1.0f);
|
|
|
|
/**
|
|
* Magnetometer Z-axis scaling factor
|
|
*
|
|
* @category system
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_MAG3_ZSCALE, 1.0f);
|