mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-12 21:30:35 +08:00
James Goppert
e72769c924
* Add adjustable driver level cutoff freq for accel/gyro. * Fix copy and paste error. * Updated print_info. * imu filter minor cleanup
1176 lines
24 KiB
C
1176 lines
24 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2012-2017 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 <lorenz@px4.io>
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* @author Julian Oes <julian@px4.io>
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* @author Thomas Gubler <thomas@px4.io>
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*/
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/**
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* ID of the board this parameter set was calibrated on.
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*
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* @group Sensor Calibration
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*/
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PARAM_DEFINE_INT32(CAL_BOARD_ID, 0);
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/**
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* ID of the Gyro that the calibration is for.
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*
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* @group Sensor Calibration
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*/
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PARAM_DEFINE_INT32(CAL_GYRO0_ID, 0);
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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(CAL_GYRO0_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(CAL_GYRO0_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(CAL_GYRO0_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(CAL_GYRO0_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(CAL_GYRO0_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(CAL_GYRO0_ZSCALE, 1.0f);
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/**
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* ID of Magnetometer the calibration is for.
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*
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* @group Sensor Calibration
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*/
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PARAM_DEFINE_INT32(CAL_MAG0_ID, 0);
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/**
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* Rotation of magnetometer 0 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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* @group Sensor Calibration
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*/
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PARAM_DEFINE_INT32(CAL_MAG0_ROT, -1);
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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(CAL_MAG0_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(CAL_MAG0_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(CAL_MAG0_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(CAL_MAG0_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(CAL_MAG0_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(CAL_MAG0_ZSCALE, 1.0f);
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/**
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* ID of the Accelerometer that the calibration is for.
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*
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* @group Sensor Calibration
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*/
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PARAM_DEFINE_INT32(CAL_ACC0_ID, 0);
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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(CAL_ACC0_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(CAL_ACC0_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(CAL_ACC0_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(CAL_ACC0_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(CAL_ACC0_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(CAL_ACC0_ZSCALE, 1.0f);
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/**
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* ID of the Gyro that the calibration is for.
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*
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* @group Sensor Calibration
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*/
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PARAM_DEFINE_INT32(CAL_GYRO1_ID, 0);
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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(CAL_GYRO1_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(CAL_GYRO1_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(CAL_GYRO1_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(CAL_GYRO1_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(CAL_GYRO1_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(CAL_GYRO1_ZSCALE, 1.0f);
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/**
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* ID of Magnetometer the calibration is for.
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*
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* @group Sensor Calibration
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*/
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PARAM_DEFINE_INT32(CAL_MAG1_ID, 0);
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/**
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* Rotation of magnetometer 1 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°
|
|
* @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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* @group Sensor Calibration
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*/
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PARAM_DEFINE_INT32(CAL_MAG1_ROT, -1);
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|
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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(CAL_MAG1_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
|
|
* @group Sensor Calibration
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|
*/
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PARAM_DEFINE_FLOAT(CAL_MAG1_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
|
|
* @group Sensor Calibration
|
|
*/
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PARAM_DEFINE_FLOAT(CAL_MAG1_ZOFF, 0.0f);
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|
|
|
/**
|
|
* Magnetometer X-axis scaling factor
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|
*
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|
* @group Sensor Calibration
|
|
*/
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|
PARAM_DEFINE_FLOAT(CAL_MAG1_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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|
PARAM_DEFINE_FLOAT(CAL_MAG1_YSCALE, 1.0f);
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|
|
|
/**
|
|
* Magnetometer Z-axis scaling factor
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|
*
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|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_MAG1_ZSCALE, 1.0f);
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|
|
|
/**
|
|
* ID of the Accelerometer that the calibration is for.
|
|
*
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_INT32(CAL_ACC1_ID, 0);
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|
|
|
/**
|
|
* Accelerometer X-axis offset
|
|
*
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_ACC1_XOFF, 0.0f);
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|
|
|
/**
|
|
* Accelerometer Y-axis offset
|
|
*
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_ACC1_YOFF, 0.0f);
|
|
|
|
/**
|
|
* Accelerometer Z-axis offset
|
|
*
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_ACC1_ZOFF, 0.0f);
|
|
|
|
/**
|
|
* Accelerometer X-axis scaling factor
|
|
*
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_ACC1_XSCALE, 1.0f);
|
|
|
|
/**
|
|
* Accelerometer Y-axis scaling factor
|
|
*
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_ACC1_YSCALE, 1.0f);
|
|
|
|
/**
|
|
* Accelerometer Z-axis scaling factor
|
|
*
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_ACC1_ZSCALE, 1.0f);
|
|
|
|
/**
|
|
* ID of the Gyro that the calibration is for.
|
|
*
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_INT32(CAL_GYRO2_ID, 0);
|
|
|
|
/**
|
|
* Gyro X-axis offset
|
|
*
|
|
* @min -10.0
|
|
* @max 10.0
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_GYRO2_XOFF, 0.0f);
|
|
|
|
/**
|
|
* Gyro Y-axis offset
|
|
*
|
|
* @min -10.0
|
|
* @max 10.0
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_GYRO2_YOFF, 0.0f);
|
|
|
|
/**
|
|
* Gyro Z-axis offset
|
|
*
|
|
* @min -5.0
|
|
* @max 5.0
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_GYRO2_ZOFF, 0.0f);
|
|
|
|
/**
|
|
* Gyro X-axis scaling factor
|
|
*
|
|
* @min -1.5
|
|
* @max 1.5
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_GYRO2_XSCALE, 1.0f);
|
|
|
|
/**
|
|
* Gyro Y-axis scaling factor
|
|
*
|
|
* @min -1.5
|
|
* @max 1.5
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_GYRO2_YSCALE, 1.0f);
|
|
|
|
/**
|
|
* Gyro Z-axis scaling factor
|
|
*
|
|
* @min -1.5
|
|
* @max 1.5
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_GYRO2_ZSCALE, 1.0f);
|
|
|
|
/**
|
|
* ID of Magnetometer the calibration is for.
|
|
*
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_INT32(CAL_MAG2_ID, 0);
|
|
|
|
/**
|
|
* 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
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_INT32(CAL_MAG2_ROT, -1);
|
|
|
|
/**
|
|
* Magnetometer X-axis offset
|
|
*
|
|
* @min -500.0
|
|
* @max 500.0
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_MAG2_XOFF, 0.0f);
|
|
|
|
/**
|
|
* Magnetometer Y-axis offset
|
|
*
|
|
* @min -500.0
|
|
* @max 500.0
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_MAG2_YOFF, 0.0f);
|
|
|
|
/**
|
|
* Magnetometer Z-axis offset
|
|
*
|
|
* @min -500.0
|
|
* @max 500.0
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_MAG2_ZOFF, 0.0f);
|
|
|
|
/**
|
|
* Magnetometer X-axis scaling factor
|
|
*
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_MAG2_XSCALE, 1.0f);
|
|
|
|
/**
|
|
* Magnetometer Y-axis scaling factor
|
|
*
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_MAG2_YSCALE, 1.0f);
|
|
|
|
/**
|
|
* Magnetometer Z-axis scaling factor
|
|
*
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_MAG2_ZSCALE, 1.0f);
|
|
|
|
/**
|
|
* ID of the Accelerometer that the calibration is for.
|
|
*
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_INT32(CAL_ACC2_ID, 0);
|
|
|
|
/**
|
|
* Accelerometer X-axis offset
|
|
*
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_ACC2_XOFF, 0.0f);
|
|
|
|
/**
|
|
* Accelerometer Y-axis offset
|
|
*
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_ACC2_YOFF, 0.0f);
|
|
|
|
/**
|
|
* Accelerometer Z-axis offset
|
|
*
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_ACC2_ZOFF, 0.0f);
|
|
|
|
/**
|
|
* Accelerometer X-axis scaling factor
|
|
*
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_ACC2_XSCALE, 1.0f);
|
|
|
|
/**
|
|
* Accelerometer Y-axis scaling factor
|
|
*
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_ACC2_YSCALE, 1.0f);
|
|
|
|
/**
|
|
* Accelerometer Z-axis scaling factor
|
|
*
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_ACC2_ZSCALE, 1.0f);
|
|
|
|
/**
|
|
* ID of Magnetometer the calibration is for.
|
|
*
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_INT32(CAL_MAG3_ID, 0);
|
|
|
|
/**
|
|
* 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
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_INT32(CAL_MAG3_ROT, -1);
|
|
|
|
/**
|
|
* Magnetometer X-axis offset
|
|
*
|
|
* @min -500.0
|
|
* @max 500.0
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_MAG3_XOFF, 0.0f);
|
|
|
|
/**
|
|
* Magnetometer Y-axis offset
|
|
*
|
|
* @min -500.0
|
|
* @max 500.0
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_MAG3_YOFF, 0.0f);
|
|
|
|
/**
|
|
* Magnetometer Z-axis offset
|
|
*
|
|
* @min -500.0
|
|
* @max 500.0
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_MAG3_ZOFF, 0.0f);
|
|
|
|
/**
|
|
* Magnetometer X-axis scaling factor
|
|
*
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_MAG3_XSCALE, 1.0f);
|
|
|
|
/**
|
|
* Magnetometer Y-axis scaling factor
|
|
*
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_MAG3_YSCALE, 1.0f);
|
|
|
|
/**
|
|
* Magnetometer Z-axis scaling factor
|
|
*
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_MAG3_ZSCALE, 1.0f);
|
|
|
|
|
|
/**
|
|
* Primary accel ID
|
|
*
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_INT32(CAL_ACC_PRIME, 0);
|
|
|
|
/**
|
|
* Primary gyro ID
|
|
*
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_INT32(CAL_GYRO_PRIME, 0);
|
|
|
|
/**
|
|
* Primary mag ID
|
|
*
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_INT32(CAL_MAG_PRIME, 0);
|
|
|
|
/**
|
|
* Bitfield selecting mag sides for calibration
|
|
*
|
|
* DETECT_ORIENTATION_TAIL_DOWN = 1
|
|
* DETECT_ORIENTATION_NOSE_DOWN = 2
|
|
* DETECT_ORIENTATION_LEFT = 4
|
|
* DETECT_ORIENTATION_RIGHT = 8
|
|
* DETECT_ORIENTATION_UPSIDE_DOWN = 16
|
|
* DETECT_ORIENTATION_RIGHTSIDE_UP = 32
|
|
*
|
|
* @min 34
|
|
* @max 63
|
|
* @value 34 Two side calibration
|
|
* @value 38 Three side calibration
|
|
* @value 63 Six side calibration
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_INT32(CAL_MAG_SIDES, 63);
|
|
|
|
/**
|
|
* Primary baro ID
|
|
*
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_INT32(CAL_BARO_PRIME, 0);
|
|
|
|
/**
|
|
* Airspeed sensor pitot model
|
|
*
|
|
* @value 0 HB Pitot
|
|
*
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_INT32(CAL_AIR_PMODEL, 0);
|
|
|
|
/**
|
|
* Airspeed sensor tube length
|
|
* @min 0.01
|
|
* @max 0.5
|
|
* @unit meter
|
|
*
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_FLOAT(CAL_AIR_TUBELEN, 0.2f);
|
|
|
|
/**
|
|
* Differential pressure sensor offset
|
|
*
|
|
* The offset (zero-reading) in Pascal
|
|
*
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_FLOAT(SENS_DPRES_OFF, 0.0f);
|
|
|
|
/**
|
|
* Differential pressure sensor analog scaling
|
|
*
|
|
* Pick the appropriate scaling from the datasheet.
|
|
* this number defines the (linear) conversion from voltage
|
|
* to Pascal (pa). For the MPXV7002DP this is 1000.
|
|
*
|
|
* NOTE: If the sensor always registers zero, try switching
|
|
* the static and dynamic tubes.
|
|
*
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_FLOAT(SENS_DPRES_ANSC, 0);
|
|
|
|
/**
|
|
* QNH for barometer
|
|
*
|
|
* @min 500
|
|
* @max 1500
|
|
* @group Sensor Calibration
|
|
* @unit hPa
|
|
*/
|
|
PARAM_DEFINE_FLOAT(SENS_BARO_QNH, 1013.25f);
|
|
|
|
|
|
/**
|
|
* Board rotation
|
|
*
|
|
* This parameter defines the rotation of the FMU board relative to the platform.
|
|
*
|
|
* @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°
|
|
*
|
|
* @reboot_required true
|
|
*
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_INT32(SENS_BOARD_ROT, 0);
|
|
|
|
/**
|
|
* PX4Flow board rotation
|
|
*
|
|
* This parameter defines the yaw rotation of the PX4FLOW board relative to the vehicle body frame.
|
|
* Zero rotation is defined as X on flow board pointing towards front of vehicle.
|
|
* The recommneded installation default for the PX4FLOW board is with the Y axis forward (270 deg yaw).
|
|
*
|
|
* @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°
|
|
*
|
|
* @reboot_required true
|
|
*
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_INT32(SENS_FLOW_ROT, 6);
|
|
|
|
/**
|
|
* Board rotation Y (Pitch) offset
|
|
*
|
|
* This parameter defines a rotational offset in degrees around the Y (Pitch) axis. It allows the user
|
|
* to fine tune the board offset in the event of misalignment.
|
|
*
|
|
* @unit deg
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_FLOAT(SENS_BOARD_Y_OFF, 0.0f);
|
|
|
|
/**
|
|
* Board rotation X (Roll) offset
|
|
*
|
|
* This parameter defines a rotational offset in degrees around the X (Roll) axis It allows the user
|
|
* to fine tune the board offset in the event of misalignment.
|
|
*
|
|
* @unit deg
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_FLOAT(SENS_BOARD_X_OFF, 0.0f);
|
|
|
|
/**
|
|
* Board rotation Z (YAW) offset
|
|
*
|
|
* This parameter defines a rotational offset in degrees around the Z (Yaw) axis. It allows the user
|
|
* to fine tune the board offset in the event of misalignment.
|
|
*
|
|
* @unit deg
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_FLOAT(SENS_BOARD_Z_OFF, 0.0f);
|
|
|
|
/**
|
|
* Select primary magnetometer.
|
|
* DEPRECATED, only used on V1 hardware
|
|
*
|
|
* @min 0
|
|
* @max 2
|
|
* @value 0 Auto-select Mag
|
|
* @value 1 External is primary Mag
|
|
* @value 2 Internal is primary Mag
|
|
* @group Sensor Calibration
|
|
*/
|
|
PARAM_DEFINE_INT32(SENS_EXT_MAG, 0);
|
|
|
|
/**
|
|
* Threshold (of RMS) to warn about high vibration levels
|
|
*
|
|
* @group Sensor Calibration
|
|
* @min 0.01
|
|
* @max 10
|
|
* @decimal 2
|
|
*/
|
|
PARAM_DEFINE_FLOAT(ATT_VIBE_THRESH, 0.2f);
|
|
|
|
/**
|
|
* Scaling factor for battery voltage sensor on PX4IO.
|
|
*
|
|
* @min 1
|
|
* @max 100000
|
|
* @group Battery Calibration
|
|
*/
|
|
PARAM_DEFINE_INT32(BAT_V_SCALE_IO, 10000);
|
|
|
|
/**
|
|
* Scaling from ADC counts to volt on the ADC input (battery voltage)
|
|
*
|
|
* This is not the battery voltage, but the intermediate ADC voltage.
|
|
* A value of -1 signifies that the board defaults are used, which is
|
|
* highly recommended.
|
|
*
|
|
* @group Battery Calibration
|
|
* @decimal 8
|
|
*/
|
|
PARAM_DEFINE_FLOAT(BAT_CNT_V_VOLT, -1.0f);
|
|
|
|
/**
|
|
* Scaling from ADC counts to volt on the ADC input (battery current)
|
|
*
|
|
* This is not the battery current, but the intermediate ADC voltage.
|
|
* A value of -1 signifies that the board defaults are used, which is
|
|
* highly recommended.
|
|
*
|
|
* @group Battery Calibration
|
|
* @decimal 8
|
|
*/
|
|
PARAM_DEFINE_FLOAT(BAT_CNT_V_CURR, -1.0);
|
|
|
|
/**
|
|
* Offset in volt as seen by the ADC input of the current sensor.
|
|
*
|
|
* This offset will be subtracted before calculating the battery
|
|
* current based on the voltage.
|
|
*
|
|
* @group Battery Calibration
|
|
* @decimal 8
|
|
*/
|
|
PARAM_DEFINE_FLOAT(BAT_V_OFFS_CURR, 0.0);
|
|
|
|
/**
|
|
* Battery voltage divider (V divider)
|
|
*
|
|
* This is the divider from battery voltage to 3.3V ADC voltage.
|
|
* If using e.g. Mauch power modules the value from the datasheet
|
|
* can be applied straight here. A value of -1 means to use
|
|
* the board default.
|
|
*
|
|
* @group Battery Calibration
|
|
* @decimal 8
|
|
*/
|
|
PARAM_DEFINE_FLOAT(BAT_V_DIV, -1.0);
|
|
|
|
/**
|
|
* Battery current per volt (A/V)
|
|
*
|
|
* The voltage seen by the 3.3V ADC multiplied by this factor
|
|
* will determine the battery current. A value of -1 means to use
|
|
* the board default.
|
|
*
|
|
* @group Battery Calibration
|
|
* @decimal 8
|
|
*/
|
|
PARAM_DEFINE_FLOAT(BAT_A_PER_V, -1.0);
|
|
|
|
/**
|
|
* Battery monitoring source.
|
|
*
|
|
* This parameter controls the source of battery data. The value 'Power Module'
|
|
* means that measurements are expected to come from a power module. If the value is set to
|
|
* 'External' then the system expects to receive mavlink battery status messages.
|
|
*
|
|
* @min 0
|
|
* @max 1
|
|
* @value 0 Power Module
|
|
* @value 1 External
|
|
* @group Battery Calibration
|
|
*/
|
|
PARAM_DEFINE_INT32(BAT_SOURCE, 0);
|
|
|
|
/**
|
|
* Lidar-Lite (LL40LS)
|
|
*
|
|
* @reboot_required true
|
|
* @min 0
|
|
* @max 2
|
|
* @group Sensor Enable
|
|
* @value 0 Disabled
|
|
* @value 1 PWM
|
|
* @value 2 I2C
|
|
*/
|
|
PARAM_DEFINE_INT32(SENS_EN_LL40LS, 0);
|
|
|
|
/**
|
|
* Lightware laser rangefinder (serial)
|
|
*
|
|
* @reboot_required true
|
|
* @min 0
|
|
* @max 4
|
|
* @group Sensor Enable
|
|
* @value 0 Disabled
|
|
* @value 1 SF02
|
|
* @value 2 SF10/a
|
|
* @value 3 SF10/b
|
|
* @value 4 SF10/c
|
|
* @value 5 SF11/c
|
|
*/
|
|
PARAM_DEFINE_INT32(SENS_EN_SF0X, 0);
|
|
|
|
/**
|
|
* Maxbotix Soanr (mb12xx)
|
|
*
|
|
* @reboot_required true
|
|
*
|
|
* @boolean
|
|
* @group Sensor Enable
|
|
*/
|
|
PARAM_DEFINE_INT32(SENS_EN_MB12XX, 0);
|
|
|
|
/**
|
|
* TeraRanger Rangefinder (i2c)
|
|
*
|
|
* @reboot_required true
|
|
* @min 0
|
|
* @max 3
|
|
* @group Sensor Enable
|
|
* @value 0 Disabled
|
|
* @value 1 Autodetect
|
|
* @value 2 TROne
|
|
* @value 3 TREvo
|
|
*/
|
|
PARAM_DEFINE_INT32(SENS_EN_TRANGER, 0);
|
|
|
|
/**
|
|
* Lightware SF1xx/SF20/LW20 laser rangefinder (i2c)
|
|
*
|
|
* @reboot_required true
|
|
* @min 0
|
|
* @max 5
|
|
* @group Sensor Enable
|
|
* @value 0 Disabled
|
|
* @value 1 SF10/a
|
|
* @value 2 SF10/b
|
|
* @value 3 SF10/c
|
|
* @value 4 SF11/c
|
|
* @value 5 SF/LW20
|
|
*/
|
|
PARAM_DEFINE_INT32(SENS_EN_SF1XX, 0);
|
|
|
|
/**
|
|
* Thermal control of sensor temperature
|
|
*
|
|
* @value -1 Thermal control unavailable
|
|
* @value 0 Thermal control off
|
|
* @group Sensor Enable
|
|
*/
|
|
PARAM_DEFINE_INT32(SENS_EN_THERMAL, -1);
|
|
|
|
/**
|
|
* Driver level cut frequency for gyro
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*
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* The cut frequency for the 2nd order butterworth filter on the gyro driver. This features
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* is currently supported by the mpu6000 and mpu9250. This only affects the signal sent to the
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* controllers, not the estimators. 0 disables the filter.
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*
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* @min 5
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* @max 1000
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* @unit Hz
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* @reboot_required true
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* @group Sensor Calibration
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*/
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PARAM_DEFINE_FLOAT(IMU_GYRO_CUTOFF, 30.0f);
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/**
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* Driver level cut frequency for accel
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*
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* The cut frequency for the 2nd order butterworth filter on the accel driver. This features
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* is currently supported by the mpu6000 and mpu9250. This only affects the signal sent to the
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* controllers, not the estimators. 0 disables the filter.
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*
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* @min 5
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* @max 1000
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* @unit Hz
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* @reboot_required true
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* @group Sensor Calibration
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*/
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PARAM_DEFINE_FLOAT(IMU_ACCEL_CUTOFF, 30.0f); |