diff options
Diffstat (limited to 'src/modules/sensors/sensor_params.c')
| -rw-r--r-- | src/modules/sensors/sensor_params.c | 386 |
1 files changed, 361 insertions, 25 deletions
diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index 67b7feef7..5e04241fe 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2015 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 @@ -36,20 +36,192 @@ * * 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> + * @author Lorenz Meier <lorenz@px4.io> + * @author Julian Oes <julian@px4.io> + * @author Thomas Gubler <thomas@px4.io> */ #include <nuttx/config.h> #include <systemlib/param/param.h> /** + * ID of the board this parameter set was calibrated on. + * + * @group Sensor Calibration + */ +PARAM_DEFINE_INT32(CAL_BOARD_ID, 0); + +/** + * ID of the Gyro that the calibration is for. + * + * @group Sensor Calibration + */ +PARAM_DEFINE_INT32(CAL_GYRO0_ID, 0); + +/** + * Gyro X-axis offset + * + * @min -10.0 + * @max 10.0 + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_GYRO0_XOFF, 0.0f); + +/** + * Gyro Y-axis offset + * + * @min -10.0 + * @max 10.0 + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_GYRO0_YOFF, 0.0f); + +/** + * Gyro Z-axis offset + * + * @min -5.0 + * @max 5.0 + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_GYRO0_ZOFF, 0.0f); + +/** + * Gyro X-axis scaling factor + * + * @min -1.5 + * @max 1.5 + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_GYRO0_XSCALE, 1.0f); + +/** + * Gyro Y-axis scaling factor + * + * @min -1.5 + * @max 1.5 + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_GYRO0_YSCALE, 1.0f); + +/** + * Gyro Z-axis scaling factor + * + * @min -1.5 + * @max 1.5 + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_GYRO0_ZSCALE, 1.0f); + +/** + * ID of Magnetometer the calibration is for. + * + * @group Sensor Calibration + */ +PARAM_DEFINE_INT32(CAL_MAG0_ID, 0); + +/** + * Magnetometer X-axis offset + * + * @min -500.0 + * @max 500.0 + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_MAG0_XOFF, 0.0f); + +/** + * Magnetometer Y-axis offset + * + * @min -500.0 + * @max 500.0 + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_MAG0_YOFF, 0.0f); + +/** + * Magnetometer Z-axis offset + * + * @min -500.0 + * @max 500.0 + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_MAG0_ZOFF, 0.0f); + +/** + * Magnetometer X-axis scaling factor + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_MAG0_XSCALE, 1.0f); + +/** + * Magnetometer Y-axis scaling factor + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_MAG0_YSCALE, 1.0f); + +/** + * Magnetometer Z-axis scaling factor + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_MAG0_ZSCALE, 1.0f); + +/** + * ID of the Accelerometer that the calibration is for. + * + * @group Sensor Calibration + */ +PARAM_DEFINE_INT32(CAL_ACC0_ID, 0); + +/** + * Accelerometer X-axis offset + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_ACC0_XOFF, 0.0f); + +/** + * Accelerometer Y-axis offset + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_ACC0_YOFF, 0.0f); + +/** + * Accelerometer Z-axis offset + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_ACC0_ZOFF, 0.0f); + +/** + * Accelerometer X-axis scaling factor + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_ACC0_XSCALE, 1.0f); + +/** + * Accelerometer Y-axis scaling factor + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_ACC0_YSCALE, 1.0f); + +/** + * Accelerometer Z-axis scaling factor + * + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(CAL_ACC0_ZSCALE, 1.0f); + +/** * ID of the Gyro that the calibration is for. * * @group Sensor Calibration */ -PARAM_DEFINE_INT32(SENS_GYRO_ID, 0); +PARAM_DEFINE_INT32(CAL_GYRO1_ID, 0); /** * Gyro X-axis offset @@ -58,7 +230,7 @@ PARAM_DEFINE_INT32(SENS_GYRO_ID, 0); * @max 10.0 * @group Sensor Calibration */ -PARAM_DEFINE_FLOAT(SENS_GYRO_XOFF, 0.0f); +PARAM_DEFINE_FLOAT(CAL_GYRO1_XOFF, 0.0f); /** * Gyro Y-axis offset @@ -67,7 +239,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_XOFF, 0.0f); * @max 10.0 * @group Sensor Calibration */ -PARAM_DEFINE_FLOAT(SENS_GYRO_YOFF, 0.0f); +PARAM_DEFINE_FLOAT(CAL_GYRO1_YOFF, 0.0f); /** * Gyro Z-axis offset @@ -76,7 +248,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_YOFF, 0.0f); * @max 5.0 * @group Sensor Calibration */ -PARAM_DEFINE_FLOAT(SENS_GYRO_ZOFF, 0.0f); +PARAM_DEFINE_FLOAT(CAL_GYRO1_ZOFF, 0.0f); /** * Gyro X-axis scaling factor @@ -85,7 +257,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_ZOFF, 0.0f); * @max 1.5 * @group Sensor Calibration */ -PARAM_DEFINE_FLOAT(SENS_GYRO_XSCALE, 1.0f); +PARAM_DEFINE_FLOAT(CAL_GYRO1_XSCALE, 1.0f); /** * Gyro Y-axis scaling factor @@ -94,7 +266,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_XSCALE, 1.0f); * @max 1.5 * @group Sensor Calibration */ -PARAM_DEFINE_FLOAT(SENS_GYRO_YSCALE, 1.0f); +PARAM_DEFINE_FLOAT(CAL_GYRO1_YSCALE, 1.0f); /** * Gyro Z-axis scaling factor @@ -103,14 +275,14 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_YSCALE, 1.0f); * @max 1.5 * @group Sensor Calibration */ -PARAM_DEFINE_FLOAT(SENS_GYRO_ZSCALE, 1.0f); +PARAM_DEFINE_FLOAT(CAL_GYRO1_ZSCALE, 1.0f); /** * ID of Magnetometer the calibration is for. * * @group Sensor Calibration */ -PARAM_DEFINE_INT32(SENS_MAG_ID, 0); +PARAM_DEFINE_INT32(CAL_MAG1_ID, 0); /** * Magnetometer X-axis offset @@ -119,7 +291,7 @@ PARAM_DEFINE_INT32(SENS_MAG_ID, 0); * @max 500.0 * @group Sensor Calibration */ -PARAM_DEFINE_FLOAT(SENS_MAG_XOFF, 0.0f); +PARAM_DEFINE_FLOAT(CAL_MAG1_XOFF, 0.0f); /** * Magnetometer Y-axis offset @@ -128,7 +300,7 @@ PARAM_DEFINE_FLOAT(SENS_MAG_XOFF, 0.0f); * @max 500.0 * @group Sensor Calibration */ -PARAM_DEFINE_FLOAT(SENS_MAG_YOFF, 0.0f); +PARAM_DEFINE_FLOAT(CAL_MAG1_YOFF, 0.0f); /** * Magnetometer Z-axis offset @@ -137,78 +309,242 @@ PARAM_DEFINE_FLOAT(SENS_MAG_YOFF, 0.0f); * @max 500.0 * @group Sensor Calibration */ -PARAM_DEFINE_FLOAT(SENS_MAG_ZOFF, 0.0f); +PARAM_DEFINE_FLOAT(CAL_MAG1_ZOFF, 0.0f); /** * Magnetometer X-axis scaling factor * * @group Sensor Calibration */ -PARAM_DEFINE_FLOAT(SENS_MAG_XSCALE, 1.0f); +PARAM_DEFINE_FLOAT(CAL_MAG1_XSCALE, 1.0f); /** * Magnetometer Y-axis scaling factor * * @group Sensor Calibration */ -PARAM_DEFINE_FLOAT(SENS_MAG_YSCALE, 1.0f); +PARAM_DEFINE_FLOAT(CAL_MAG1_YSCALE, 1.0f); /** * Magnetometer Z-axis scaling factor * * @group Sensor Calibration */ -PARAM_DEFINE_FLOAT(SENS_MAG_ZSCALE, 1.0f); +PARAM_DEFINE_FLOAT(CAL_MAG1_ZSCALE, 1.0f); /** * ID of the Accelerometer that the calibration is for. * * @group Sensor Calibration */ -PARAM_DEFINE_INT32(SENS_ACC_ID, 0); +PARAM_DEFINE_INT32(CAL_ACC1_ID, 0); /** * Accelerometer X-axis offset * * @group Sensor Calibration */ -PARAM_DEFINE_FLOAT(SENS_ACC_XOFF, 0.0f); +PARAM_DEFINE_FLOAT(CAL_ACC1_XOFF, 0.0f); /** * Accelerometer Y-axis offset * * @group Sensor Calibration */ -PARAM_DEFINE_FLOAT(SENS_ACC_YOFF, 0.0f); +PARAM_DEFINE_FLOAT(CAL_ACC1_YOFF, 0.0f); /** * Accelerometer Z-axis offset * * @group Sensor Calibration */ -PARAM_DEFINE_FLOAT(SENS_ACC_ZOFF, 0.0f); +PARAM_DEFINE_FLOAT(CAL_ACC1_ZOFF, 0.0f); /** * Accelerometer X-axis scaling factor * * @group Sensor Calibration */ -PARAM_DEFINE_FLOAT(SENS_ACC_XSCALE, 1.0f); +PARAM_DEFINE_FLOAT(CAL_ACC1_XSCALE, 1.0f); /** * Accelerometer Y-axis scaling factor * * @group Sensor Calibration */ -PARAM_DEFINE_FLOAT(SENS_ACC_YSCALE, 1.0f); +PARAM_DEFINE_FLOAT(CAL_ACC1_YSCALE, 1.0f); /** * Accelerometer Z-axis scaling factor * * @group Sensor Calibration */ -PARAM_DEFINE_FLOAT(SENS_ACC_ZSCALE, 1.0f); +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); + +/** + * 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); /** * Differential pressure sensor offset |