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148 lines
6.3 KiB
C++
148 lines
6.3 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2016 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 parameters.cpp
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*
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* @author Beat Kueng <beat-kueng@gmx.net>
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*/
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#include "parameters.h"
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namespace sensors
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{
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void initialize_parameter_handles(ParameterHandles ¶meter_handles)
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{
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/* Differential pressure offset */
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parameter_handles.diff_pres_offset_pa = param_find("SENS_DPRES_OFF");
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#ifdef ADC_AIRSPEED_VOLTAGE_CHANNEL
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parameter_handles.diff_pres_analog_scale = param_find("SENS_DPRES_ANSC");
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#endif /* ADC_AIRSPEED_VOLTAGE_CHANNEL */
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/* rotations */
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parameter_handles.board_rotation = param_find("SENS_BOARD_ROT");
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/* rotation offsets */
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parameter_handles.board_offset[0] = param_find("SENS_BOARD_X_OFF");
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parameter_handles.board_offset[1] = param_find("SENS_BOARD_Y_OFF");
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parameter_handles.board_offset[2] = param_find("SENS_BOARD_Z_OFF");
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/* mag compensation */
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parameter_handles.mag_comp_type = param_find("CAL_MAG_COMP_TYP");
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parameter_handles.mag_comp_paramX[0] = param_find("CAL_MAG0_XCOMP");
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parameter_handles.mag_comp_paramX[1] = param_find("CAL_MAG1_XCOMP");
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parameter_handles.mag_comp_paramX[2] = param_find("CAL_MAG2_XCOMP");
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parameter_handles.mag_comp_paramX[3] = param_find("CAL_MAG3_XCOMP");
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parameter_handles.mag_comp_paramY[0] = param_find("CAL_MAG0_YCOMP");
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parameter_handles.mag_comp_paramY[1] = param_find("CAL_MAG1_YCOMP");
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parameter_handles.mag_comp_paramY[2] = param_find("CAL_MAG2_YCOMP");
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parameter_handles.mag_comp_paramY[3] = param_find("CAL_MAG3_YCOMP");
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parameter_handles.mag_comp_paramZ[0] = param_find("CAL_MAG0_ZCOMP");
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parameter_handles.mag_comp_paramZ[1] = param_find("CAL_MAG1_ZCOMP");
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parameter_handles.mag_comp_paramZ[2] = param_find("CAL_MAG2_ZCOMP");
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parameter_handles.mag_comp_paramZ[3] = param_find("CAL_MAG3_ZCOMP");
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parameter_handles.air_cmodel = param_find("CAL_AIR_CMODEL");
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parameter_handles.air_tube_length = param_find("CAL_AIR_TUBELEN");
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parameter_handles.air_tube_diameter_mm = param_find("CAL_AIR_TUBED_MM");
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(void)param_find("BAT_V_DIV");
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(void)param_find("BAT_A_PER_V");
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(void)param_find("CAL_ACC0_ID");
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(void)param_find("CAL_GYRO0_ID");
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(void)param_find("CAL_MAG0_ID");
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(void)param_find("CAL_MAG1_ID");
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(void)param_find("CAL_MAG2_ID");
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(void)param_find("CAL_MAG3_ID");
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(void)param_find("CAL_MAG0_ROT");
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(void)param_find("CAL_MAG1_ROT");
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(void)param_find("CAL_MAG2_ROT");
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(void)param_find("CAL_MAG3_ROT");
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(void)param_find("CAL_MAG_SIDES");
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(void)param_find("SYS_PARAM_VER");
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(void)param_find("SYS_AUTOSTART");
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(void)param_find("SYS_AUTOCONFIG");
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(void)param_find("TRIG_MODE");
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(void)param_find("UAVCAN_ENABLE");
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// Parameters controlling the on-board sensor thermal calibrator
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(void)param_find("SYS_CAL_TDEL");
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(void)param_find("SYS_CAL_TMAX");
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(void)param_find("SYS_CAL_TMIN");
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}
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void update_parameters(const ParameterHandles ¶meter_handles, Parameters ¶meters)
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{
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/* Airspeed offset */
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param_get(parameter_handles.diff_pres_offset_pa, &(parameters.diff_pres_offset_pa));
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#ifdef ADC_AIRSPEED_VOLTAGE_CHANNEL
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param_get(parameter_handles.diff_pres_analog_scale, &(parameters.diff_pres_analog_scale));
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#endif /* ADC_AIRSPEED_VOLTAGE_CHANNEL */
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param_get(parameter_handles.board_rotation, &(parameters.board_rotation));
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param_get(parameter_handles.board_offset[0], &(parameters.board_offset[0]));
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param_get(parameter_handles.board_offset[1], &(parameters.board_offset[1]));
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param_get(parameter_handles.board_offset[2], &(parameters.board_offset[2]));
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param_get(parameter_handles.mag_comp_type, &(parameters.mag_comp_type));
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param_get(parameter_handles.mag_comp_paramX[0], &(parameters.mag_comp_paramX[0]));
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param_get(parameter_handles.mag_comp_paramX[1], &(parameters.mag_comp_paramX[1]));
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param_get(parameter_handles.mag_comp_paramX[2], &(parameters.mag_comp_paramX[2]));
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param_get(parameter_handles.mag_comp_paramX[3], &(parameters.mag_comp_paramX[3]));
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param_get(parameter_handles.mag_comp_paramY[0], &(parameters.mag_comp_paramY[0]));
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param_get(parameter_handles.mag_comp_paramY[1], &(parameters.mag_comp_paramY[1]));
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param_get(parameter_handles.mag_comp_paramY[2], &(parameters.mag_comp_paramY[2]));
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param_get(parameter_handles.mag_comp_paramY[3], &(parameters.mag_comp_paramY[3]));
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param_get(parameter_handles.mag_comp_paramZ[0], &(parameters.mag_comp_paramZ[0]));
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param_get(parameter_handles.mag_comp_paramZ[1], &(parameters.mag_comp_paramZ[1]));
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param_get(parameter_handles.mag_comp_paramZ[2], &(parameters.mag_comp_paramZ[2]));
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param_get(parameter_handles.mag_comp_paramZ[3], &(parameters.mag_comp_paramZ[3]));
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param_get(parameter_handles.air_cmodel, ¶meters.air_cmodel);
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param_get(parameter_handles.air_tube_length, ¶meters.air_tube_length);
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param_get(parameter_handles.air_tube_diameter_mm, ¶meters.air_tube_diameter_mm);
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}
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} /* namespace sensors */
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