path: root/src/modules/sensors/sensor_params.c

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/**
 * @file sensor_params.c
 *
 * Parameters defined by the sensors task.
 *
 * @author Lorenz Meier <lm@inf.ethz.ch>
 * @author Julian Oes <joes@student.ethz.ch>
 * @author Thomas Gubler <thomasgubler@student.ethz.ch>
 */

#include <nuttx/config.h>
#include <systemlib/param/param.h>

/**
 * Gyro X-axis offset
 *
 * @min -10.0
 * @max 10.0
 * @group Sensor Calibration
 */
PARAM_DEFINE_FLOAT(SENS_GYRO_XOFF, 0.0f);

/**
 * Gyro Y-axis offset
 *
 * @min -10.0
 * @max 10.0
 * @group Sensor Calibration
 */
PARAM_DEFINE_FLOAT(SENS_GYRO_YOFF, 0.0f);

/**
 * Gyro Z-axis offset
 *
 * @min -5.0
 * @max 5.0
 * @group Sensor Calibration
 */
PARAM_DEFINE_FLOAT(SENS_GYRO_ZOFF, 0.0f);

/**
 * Gyro X-axis scaling factor
 *
 * @min -1.5
 * @max 1.5
 * @group Sensor Calibration
 */
PARAM_DEFINE_FLOAT(SENS_GYRO_XSCALE, 1.0f);

/**
 * Gyro Y-axis scaling factor
 *
 * @min -1.5
 * @max 1.5
 * @group Sensor Calibration
 */
PARAM_DEFINE_FLOAT(SENS_GYRO_YSCALE, 1.0f);

/**
 * Gyro Z-axis scaling factor
 *
 * @min -1.5
 * @max 1.5
 * @group Sensor Calibration
 */
PARAM_DEFINE_FLOAT(SENS_GYRO_ZSCALE, 1.0f);


/**
 * Magnetometer X-axis offset
 *
 * @min -500.0
 * @max 500.0
 * @group Sensor Calibration
 */
PARAM_DEFINE_FLOAT(SENS_MAG_XOFF, 0.0f);

/**
 * Magnetometer Y-axis offset
 *
 * @min -500.0
 * @max 500.0
 * @group Sensor Calibration
 */
PARAM_DEFINE_FLOAT(SENS_MAG_YOFF, 0.0f);

/**
 * Magnetometer Z-axis offset
 *
 * @min -500.0
 * @max 500.0
 * @group Sensor Calibration
 */
PARAM_DEFINE_FLOAT(SENS_MAG_ZOFF, 0.0f);

/**
 * Magnetometer X-axis scaling factor
 *
 * @group Sensor Calibration
 */
PARAM_DEFINE_FLOAT(SENS_MAG_XSCALE, 1.0f);

/**
 * Magnetometer Y-axis scaling factor
 *
 * @group Sensor Calibration
 */
PARAM_DEFINE_FLOAT(SENS_MAG_YSCALE, 1.0f);

/**
 * Magnetometer Z-axis scaling factor
 *
 * @group Sensor Calibration
 */
PARAM_DEFINE_FLOAT(SENS_MAG_ZSCALE, 1.0f);


/**
 * Accelerometer X-axis offset
 *
 * @group Sensor Calibration
 */
PARAM_DEFINE_FLOAT(SENS_ACC_XOFF, 0.0f);

/**
 * Accelerometer Y-axis offset
 *
 * @group Sensor Calibration
 */
PARAM_DEFINE_FLOAT(SENS_ACC_YOFF, 0.0f);

/**
 * Accelerometer Z-axis offset
 *
 * @group Sensor Calibration
 */
PARAM_DEFINE_FLOAT(SENS_ACC_ZOFF, 0.0f);

/**
 * Accelerometer X-axis scaling factor
 *
 * @group Sensor Calibration
 */
PARAM_DEFINE_FLOAT(SENS_ACC_XSCALE, 1.0f);

/**
 * Accelerometer Y-axis scaling factor
 *
 * @group Sensor Calibration
 */
PARAM_DEFINE_FLOAT(SENS_ACC_YSCALE, 1.0f);

/**
 * Accelerometer Z-axis scaling factor
 *
 * @group Sensor Calibration
 */
PARAM_DEFINE_FLOAT(SENS_ACC_ZSCALE, 1.0f);


/**
 * Differential pressure sensor offset
 *
 * @group Sensor Calibration
 */
PARAM_DEFINE_FLOAT(SENS_DPRES_OFF, 0.0f);

/**
 * Differential pressure sensor analog enabled
 *
 * @group Sensor Calibration
 */
PARAM_DEFINE_INT32(SENS_DPRES_ANA, 0);


/**
 * Board rotation
 *
 * This parameter defines the rotation of the FMU board relative to the platform.
 * Possible values are:
 *    0 = No rotation
 *    1 = Yaw 45°
 *    2 = Yaw 90°
 *    3 = Yaw 135°
 *    4 = Yaw 180°
 *    5 = Yaw 225°
 *    6 = Yaw 270°
 *    7 = Yaw 315°
 *    8 = Roll 180°
 *    9 = Roll 180°, Yaw 45°
 *   10 = Roll 180°, Yaw 90°
 *   11 = Roll 180°, Yaw 135°
 *   12 = Pitch 180°
 *   13 = Roll 180°, Yaw 225°
 *   14 = Roll 180°, Yaw 270°
 *   15 = Roll 180°, Yaw 315°
 *   16 = Roll 90°
 *   17 = Roll 90°, Yaw 45°
 *   18 = Roll 90°, Yaw 90°
 *   19 = Roll 90°, Yaw 135°
 *   20 = Roll 270°
 *   21 = Roll 270°, Yaw 45°
 *   22 = Roll 270°, Yaw 90°
 *   23 = Roll 270°, Yaw 135°
 *   24 = Pitch 90°
 *   25 = Pitch 270°
 *
 * @group Sensor Calibration
 */
PARAM_DEFINE_INT32(SENS_BOARD_ROT, 0);

/**
 * 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.
 *
 * @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.
 *
 * @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.
 *
 * @group Sensor Calibration
 */
PARAM_DEFINE_FLOAT(SENS_BOARD_Z_OFF, 0.0f);

/**
 * External magnetometer rotation
 *
 * This parameter defines the rotation of the external magnetometer relative
 * to the platform (not relative to the FMU).
 * See SENS_BOARD_ROT for possible values.
 *
 * @group Sensor Calibration
 */
PARAM_DEFINE_INT32(SENS_EXT_MAG_ROT, 0);


/**
 * RC Channel 1 Minimum
 *
 * Minimum value for RC channel 1
 *
 * @min 800.0
 * @max 1500.0
 * @group Radio Calibration
 */
PARAM_DEFINE_FLOAT(RC1_MIN, 1000.0f);

/**
 * RC Channel 1 Trim
 *
 * Mid point value (same as min for throttle)
 *
 * @min 800.0
 * @max 2200.0
 * @group Radio Calibration
 */
PARAM_DEFINE_FLOAT(RC1_TRIM, 1500.0f);

/**
 * RC Channel 1 Maximum
 *
 * Maximum value for RC channel 1
 *
 * @min 1500.0
 * @max 2200.0
 * @group Radio Calibration
 */
PARAM_DEFINE_FLOAT(RC1_MAX, 2000.0f);

/**
 * RC Channel 1 Reverse
 *
 * Set to -1 to reverse channel.
 *
 * @min -1.0
 * @max 1.0
 * @group Radio Calibration
 */
PARAM_DEFINE_FLOAT(RC1_REV, 1.0f);

/**
 * RC Channel 1 dead zone
 *
 * The +- range of this value around the trim value will be considered as zero.
 *
 * @min 0.0
 * @max 100.0
 * @group Radio Calibration
 */
PARAM_DEFINE_FLOAT(RC1_DZ, 10.0f);

/**
 * RC Channel 2 Minimum
 *
 * Minimum value for RC channel 2
 *
 * @min 800.0
 * @max 1500.0
 * @group Radio Calibration
 */
PARAM_DEFINE_FLOAT(RC2_MIN, 1000.0f);

/**
 * RC Channel 2 Trim
 *
 * Mid point value (same as min for throttle)
 *
 * @min 800.0
 * @max 2200.0
 * @group Radio Calibration
 */
PARAM_DEFINE_FLOAT(RC2_TRIM, 1500.0f);

/**
 * RC Channel 2 Maximum
 *
 * Maximum value for RC channel 2
 *
 * @min 1500.0
 * @max 2200.0
 * @group Radio Calibration
 */
PARAM_DEFINE_FLOAT(RC2_MAX, 2000.0f);

/**
 * RC Channel 2 Reverse
 *
 * Set to -1 to reverse channel.
 *
 * @min -1.0
 * @max 1.0
 * @group Radio Calibration
 */
PARAM_DEFINE_FLOAT(RC2_REV, 1.0f);

/**
 * RC Channel 2 dead zone
 *
 * The +- range of this value around the trim value will be considered as zero.
 *
 * @min 0.0
 * @max 100.0
 * @group Radio Calibration
 */
PARAM_DEFINE_FLOAT(RC2_DZ, 10.0f);

PARAM_DEFINE_FLOAT(RC3_MIN, 1000);
PARAM_DEFINE_FLOAT(RC3_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC3_MAX, 2000);
PARAM_DEFINE_FLOAT(RC3_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC3_DZ, 10.0f);

PARAM_DEFINE_FLOAT(RC4_MIN, 1000);
PARAM_DEFINE_FLOAT(RC4_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC4_MAX, 2000);
PARAM_DEFINE_FLOAT(RC4_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC4_DZ, 10.0f);

PARAM_DEFINE_FLOAT(RC5_MIN, 1000);
PARAM_DEFINE_FLOAT(RC5_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC5_MAX, 2000);
PARAM_DEFINE_FLOAT(RC5_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC5_DZ,  10.0f);

PARAM_DEFINE_FLOAT(RC6_MIN, 1000);
PARAM_DEFINE_FLOAT(RC6_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC6_MAX, 2000);
PARAM_DEFINE_FLOAT(RC6_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC6_DZ, 10.0f);

PARAM_DEFINE_FLOAT(RC7_MIN, 1000);
PARAM_DEFINE_FLOAT(RC7_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC7_MAX, 2000);
PARAM_DEFINE_FLOAT(RC7_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC7_DZ, 10.0f);

PARAM_DEFINE_FLOAT(RC8_MIN, 1000);
PARAM_DEFINE_FLOAT(RC8_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC8_MAX, 2000);
PARAM_DEFINE_FLOAT(RC8_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC8_DZ, 10.0f);

PARAM_DEFINE_FLOAT(RC9_MIN, 1000);
PARAM_DEFINE_FLOAT(RC9_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC9_MAX, 2000);
PARAM_DEFINE_FLOAT(RC9_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC9_DZ, 0.0f);

PARAM_DEFINE_FLOAT(RC10_MIN, 1000);
PARAM_DEFINE_FLOAT(RC10_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC10_MAX, 2000);
PARAM_DEFINE_FLOAT(RC10_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC10_DZ, 0.0f);

PARAM_DEFINE_FLOAT(RC11_MIN, 1000);
PARAM_DEFINE_FLOAT(RC11_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC11_MAX, 2000);
PARAM_DEFINE_FLOAT(RC11_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC11_DZ, 0.0f);

PARAM_DEFINE_FLOAT(RC12_MIN, 1000);
PARAM_DEFINE_FLOAT(RC12_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC12_MAX, 2000);
PARAM_DEFINE_FLOAT(RC12_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC12_DZ, 0.0f);

PARAM_DEFINE_FLOAT(RC13_MIN, 1000);
PARAM_DEFINE_FLOAT(RC13_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC13_MAX, 2000);
PARAM_DEFINE_FLOAT(RC13_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC13_DZ, 0.0f);

PARAM_DEFINE_FLOAT(RC14_MIN, 1000);
PARAM_DEFINE_FLOAT(RC14_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC14_MAX, 2000);
PARAM_DEFINE_FLOAT(RC14_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC14_DZ, 0.0f);

PARAM_DEFINE_FLOAT(RC15_MIN, 1000);
PARAM_DEFINE_FLOAT(RC15_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC15_MAX, 2000);
PARAM_DEFINE_FLOAT(RC15_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC15_DZ, 0.0f);

PARAM_DEFINE_FLOAT(RC16_MIN, 1000);
PARAM_DEFINE_FLOAT(RC16_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC16_MAX, 2000);
PARAM_DEFINE_FLOAT(RC16_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC16_DZ, 0.0f);

PARAM_DEFINE_FLOAT(RC17_MIN, 1000);
PARAM_DEFINE_FLOAT(RC17_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC17_MAX, 2000);
PARAM_DEFINE_FLOAT(RC17_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC17_DZ, 0.0f);

PARAM_DEFINE_FLOAT(RC18_MIN, 1000);
PARAM_DEFINE_FLOAT(RC18_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC18_MAX, 2000);
PARAM_DEFINE_FLOAT(RC18_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC18_DZ, 0.0f);

#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
PARAM_DEFINE_INT32(RC_RL1_DSM_VCC, 0); /* Relay 1 controls DSM VCC */
#endif

/**
 * DSM binding trigger.
 *
 * -1 = Idle, 0 = Start DSM2 bind, 1 = Start DSMX bind
 *
 * @group Radio Calibration
 */
PARAM_DEFINE_INT32(RC_DSM_BIND, -1);


/**
 * Scaling factor for battery voltage sensor on PX4IO.
 *
 * @group Battery Calibration
 */
PARAM_DEFINE_INT32(BAT_V_SCALE_IO, 10000);

#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
/**
 * Scaling factor for battery voltage sensor on FMU v2.
 *
 * @group Battery Calibration
 */
PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.0082f);
#elif CONFIG_ARCH_BOARD_AEROCORE
/**
 * Scaling factor for battery voltage sensor on AeroCore.
 *
 * For R70 = 133K, R71 = 10K --> scale = 1.8 * 143 / (4096*10) = 0.0063
 *
 * @group Battery Calibration
 */
PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.0063f);
#else
/**
 * Scaling factor for battery voltage sensor on FMU v1.
 *
 * FMUv1 standalone: 1/(10 / (47+10)) * (3.3 / 4095) = 0.00459340659
 * FMUv1 with PX4IO: 0.00459340659
 * FMUv1 with PX4IOAR: (3.3f * 52.0f / 5.0f / 4095.0f) = 0.00838095238
 *
 * @group Battery Calibration
 */
PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.00459340659f);
#endif

/**
 * Scaling factor for battery current sensor.
 *
 * @group Battery Calibration
 */
PARAM_DEFINE_FLOAT(BAT_C_SCALING, 0.0124);	/* scaling for 3DR power brick */


/**
 * Roll control channel mapping.
 *
 * The channel index (starting from 1 for channel 1) indicates
 * which channel should be used for reading roll inputs from.
 * A value of zero indicates the switch is not assigned.
 *
 * @min 0
 * @max 18
 * @group Radio Calibration
 */
PARAM_DEFINE_INT32(RC_MAP_ROLL, 1);

/**
 * Pitch control channel mapping.
 *
 * The channel index (starting from 1 for channel 1) indicates
 * which channel should be used for reading pitch inputs from.
 * A value of zero indicates the switch is not assigned.
 *
 * @min 0
 * @max 18
 * @group Radio Calibration
 */
PARAM_DEFINE_INT32(RC_MAP_PITCH, 2);

/**
 * Failsafe channel mapping.
 *
 * The RC mapping index indicates which channel is used for failsafe
 * If 0, whichever channel is mapped to throttle is used
 * otherwise the value indicates the specific rc channel to use
 *
 * @min 0
 * @max 18
 *
 *
 */
PARAM_DEFINE_INT32(RC_MAP_FAILSAFE, 0);  //Default to throttle function

/**
 * Throttle control channel mapping.
 *
 * The channel index (starting from 1 for channel 1) indicates
 * which channel should be used for reading throttle inputs from.
 * A value of zero indicates the switch is not assigned.
 *
 * @min 0
 * @max 18
 * @group Radio Calibration
 */
PARAM_DEFINE_INT32(RC_MAP_THROTTLE, 3);

/**
 * Yaw control channel mapping.
 *
 * The channel index (starting from 1 for channel 1) indicates
 * which channel should be used for reading yaw inputs from.
 * A value of zero indicates the switch is not assigned.
 *
 * @min 0
 * @max 18
 * @group Radio Calibration
 */
PARAM_DEFINE_INT32(RC_MAP_YAW, 4);

/**
 * Mode switch channel mapping.
 *
 * This is the main flight mode selector.
 * The channel index (starting from 1 for channel 1) indicates
 * which channel should be used for deciding about the main mode.
 * A value of zero indicates the switch is not assigned.
 *
 * @min 0
 * @max 18
 * @group Radio Calibration
 */
PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 0);

/**
 * Return switch channel mapping.
 *
 * @min 0
 * @max 18
 * @group Radio Calibration
 */
PARAM_DEFINE_INT32(RC_MAP_RETURN_SW, 0);

/**
 * Posctl switch channel mapping.
 *
 * @min 0
 * @max 18
 * @group Radio Calibration
 */
PARAM_DEFINE_INT32(RC_MAP_POSCTL_SW, 0);

/**
 * Loiter switch channel mapping.
 *
 * @min 0
 * @max 18
 * @group Radio Calibration
 */
PARAM_DEFINE_INT32(RC_MAP_LOITER_SW, 0);

/**
 * Acro switch channel mapping.
 *
 * @min 0
 * @max 18
 * @group Radio Calibration
 */
PARAM_DEFINE_INT32(RC_MAP_ACRO_SW, 0);

/**
 * Flaps channel mapping.
 *
 * @min 0
 * @max 18
 * @group Radio Calibration
 */
PARAM_DEFINE_INT32(RC_MAP_FLAPS, 0);

/**
 * Auxiliary switch 1 channel mapping.
 *
 * Default function: Camera pitch
 *
 * @min 0
 * @max 18
 * @group Radio Calibration
 */
PARAM_DEFINE_INT32(RC_MAP_AUX1, 0);

/**
 * Auxiliary switch 2 channel mapping.
 *
 * Default function: Camera roll
 *
 * @min 0
 * @max 18
 * @group Radio Calibration
 */
PARAM_DEFINE_INT32(RC_MAP_AUX2, 0);	/**< default function: camera roll */

/**
 * Auxiliary switch 3 channel mapping.
 *
 * Default function: Camera azimuth / yaw
 *
 * @min 0
 * @max 18
 * @group Radio Calibration
 */
PARAM_DEFINE_INT32(RC_MAP_AUX3, 0);


/**
 * Failsafe channel PWM threshold.
 *
 * @min 800
 * @max 2200
 * @group Radio Calibration
 */
PARAM_DEFINE_INT32(RC_FAILS_THR, 0);

/**
 * Threshold for selecting assist mode
 *
 * min:-1
 * max:+1
 *
 * 0-1 indicate where in the full channel range the threshold sits
 * 		0 : min
 * 		1 : max
 * sign indicates polarity of comparison
 * 		positive : true when channel>th
 * 		negative : true when channel<th
 *
 */
PARAM_DEFINE_FLOAT(RC_ASSIST_TH, 0.25f);

/**
 * Threshold for selecting auto mode
 *
 * min:-1
 * max:+1
 *
 * 0-1 indicate where in the full channel range the threshold sits
 * 		0 : min
 * 		1 : max
 * sign indicates polarity of comparison
 * 		positive : true when channel>th
 * 		negative : true when channel<th
 *
 */
PARAM_DEFINE_FLOAT(RC_AUTO_TH, 0.75f);

/**
 * Threshold for selecting posctl mode
 *
 * min:-1
 * max:+1
 *
 * 0-1 indicate where in the full channel range the threshold sits
 * 		0 : min
 * 		1 : max
 * sign indicates polarity of comparison
 * 		positive : true when channel>th
 * 		negative : true when channel<th
 *
 */
PARAM_DEFINE_FLOAT(RC_POSCTL_TH, 0.5f);

/**
 * Threshold for selecting return to launch mode
 *
 * min:-1
 * max:+1
 *
 * 0-1 indicate where in the full channel range the threshold sits
 * 		0 : min
 * 		1 : max
 * sign indicates polarity of comparison
 * 		positive : true when channel>th
 * 		negative : true when channel<th
 *
 */
PARAM_DEFINE_FLOAT(RC_RETURN_TH, 0.5f);

/**
 * Threshold for selecting loiter mode
 *
 * min:-1
 * max:+1
 *
 * 0-1 indicate where in the full channel range the threshold sits
 * 		0 : min
 * 		1 : max
 * sign indicates polarity of comparison
 * 		positive : true when channel>th
 * 		negative : true when channel<th
 *
 */
PARAM_DEFINE_FLOAT(RC_LOITER_TH, 0.5f);

/**
 * Threshold for selecting acro mode
 *
 * min:-1
 * max:+1
 *
 * 0-1 indicate where in the full channel range the threshold sits
 * 		0 : min
 * 		1 : max
 * sign indicates polarity of comparison
 * 		positive : true when channel>th
 * 		negative : true when channel<th
 *
 */
PARAM_DEFINE_FLOAT(RC_ACRO_TH, 0.5f);