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PX4-Autopilot/src/modules/temperature_compensation/temp_comp_params_accel.c
Daniel Agar dc05ceaad2
create temperature_compensation module 
- this is a new module for temperature compensation that consolidates the functionality previously handled in the sensors module (calculating runtime thermal corrections) and the events module (online thermal calibration)
 - by collecting this functionality into a single module we can optionally disable it on systems where it's not used and save some flash (if disabled at build time) or memory (disabled at run time)
2020-01-20 21:42:42 -05:00

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/****************************************************************************
*
* Copyright (c) 2017 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.
*
****************************************************************************/
/**
* @file temp_comp_params_accel.c
*
* Parameters required for temperature compensation of rate Accelerometers.
*
* @author Paul Riseborough <gncsolns@gmail.com>
*/
/**
* Thermal compensation for accelerometer sensors.
*
* @group Thermal Compensation
* @min 0
* @max 1
* @boolean
*/
PARAM_DEFINE_INT32(TC_A_ENABLE, 0);
/* Accelerometer 0 */
/**
* ID of Accelerometer that the calibration is for.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_INT32(TC_A0_ID, 0);
/**
* Accelerometer offset temperature ^3 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A0_X3_0, 0.0f);
/**
* Accelerometer offset temperature ^3 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A0_X3_1, 0.0f);
/**
* Accelerometer offset temperature ^3 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A0_X3_2, 0.0f);
/**
* Accelerometer offset temperature ^2 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A0_X2_0, 0.0f);
/**
* Accelerometer offset temperature ^2 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A0_X2_1, 0.0f);
/**
* Accelerometer offset temperature ^2 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A0_X2_2, 0.0f);
/**
* Accelerometer offset temperature ^1 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A0_X1_0, 0.0f);
/**
* Accelerometer offset temperature ^1 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A0_X1_1, 0.0f);
/**
* Accelerometer offset temperature ^1 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A0_X1_2, 0.0f);
/**
* Accelerometer offset temperature ^0 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A0_X0_0, 0.0f);
/**
* Accelerometer offset temperature ^0 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A0_X0_1, 0.0f);
/**
* Accelerometer offset temperature ^0 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A0_X0_2, 0.0f);
/**
* Accelerometer scale factor - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A0_SCL_0, 1.0f);
/**
* Accelerometer scale factor - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A0_SCL_1, 1.0f);
/**
* Accelerometer scale factor - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A0_SCL_2, 1.0f);
/**
* Accelerometer calibration reference temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A0_TREF, 25.0f);
/**
* Accelerometer calibration minimum temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A0_TMIN, 0.0f);
/**
* Accelerometer calibration maximum temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A0_TMAX, 100.0f);
/* Accelerometer 1 */
/**
* ID of Accelerometer that the calibration is for.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_INT32(TC_A1_ID, 0);
/**
* Accelerometer offset temperature ^3 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A1_X3_0, 0.0f);
/**
* Accelerometer offset temperature ^3 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A1_X3_1, 0.0f);
/**
* Accelerometer offset temperature ^3 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A1_X3_2, 0.0f);
/**
* Accelerometer offset temperature ^2 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A1_X2_0, 0.0f);
/**
* Accelerometer offset temperature ^2 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A1_X2_1, 0.0f);
/**
* Accelerometer offset temperature ^2 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A1_X2_2, 0.0f);
/**
* Accelerometer offset temperature ^1 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A1_X1_0, 0.0f);
/**
* Accelerometer offset temperature ^1 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A1_X1_1, 0.0f);
/**
* Accelerometer offset temperature ^1 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A1_X1_2, 0.0f);
/**
* Accelerometer offset temperature ^0 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A1_X0_0, 0.0f);
/**
* Accelerometer offset temperature ^0 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A1_X0_1, 0.0f);
/**
* Accelerometer offset temperature ^0 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A1_X0_2, 0.0f);
/**
* Accelerometer scale factor - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A1_SCL_0, 1.0f);
/**
* Accelerometer scale factor - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A1_SCL_1, 1.0f);
/**
* Accelerometer scale factor - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A1_SCL_2, 1.0f);
/**
* Accelerometer calibration reference temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A1_TREF, 25.0f);
/**
* Accelerometer calibration minimum temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A1_TMIN, 0.0f);
/**
* Accelerometer calibration maximum temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A1_TMAX, 100.0f);
/* Accelerometer 2 */
/**
* ID of Accelerometer that the calibration is for.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_INT32(TC_A2_ID, 0);
/**
* Accelerometer offset temperature ^3 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A2_X3_0, 0.0f);
/**
* Accelerometer offset temperature ^3 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A2_X3_1, 0.0f);
/**
* Accelerometer offset temperature ^3 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A2_X3_2, 0.0f);
/**
* Accelerometer offset temperature ^2 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A2_X2_0, 0.0f);
/**
* Accelerometer offset temperature ^2 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A2_X2_1, 0.0f);
/**
* Accelerometer offset temperature ^2 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A2_X2_2, 0.0f);
/**
* Accelerometer offset temperature ^1 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A2_X1_0, 0.0f);
/**
* Accelerometer offset temperature ^1 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A2_X1_1, 0.0f);
/**
* Accelerometer offset temperature ^1 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A2_X1_2, 0.0f);
/**
* Accelerometer offset temperature ^0 polynomial coefficient - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A2_X0_0, 0.0f);
/**
* Accelerometer offset temperature ^0 polynomial coefficient - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A2_X0_1, 0.0f);
/**
* Accelerometer offset temperature ^0 polynomial coefficient - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A2_X0_2, 0.0f);
/**
* Accelerometer scale factor - X axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A2_SCL_0, 1.0f);
/**
* Accelerometer scale factor - Y axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A2_SCL_1, 1.0f);
/**
* Accelerometer scale factor - Z axis.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A2_SCL_2, 1.0f);
/**
* Accelerometer calibration reference temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A2_TREF, 25.0f);
/**
* Accelerometer calibration minimum temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A2_TMIN, 0.0f);
/**
* Accelerometer calibration maximum temperature.
*
* @group Thermal Compensation
* @category system
*/
PARAM_DEFINE_FLOAT(TC_A2_TMAX, 100.0f);
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