enable gyro_calibration for CAN nodes

- allow saving initial gyro cal if very close to 0

ROMFS/cannode/init.d/rcS

@@ -86,10 +86,17 @@ unset BOARD_RC_SENSORS
 . ${R}etc/init.d/rc.serial
 
 # Check for flow sensor
-if param compare SENS_EN_PX4FLOW 1
+if param compare -s SENS_EN_PX4FLOW 1
 then
 	px4flow start -X &
 fi
 
+if param compare -s IMU_GYRO_CAL_EN 1
+then
+	gyro_calibration start
+fi
+
+sensors start
+
 uavcannode start
 unset R

boards/ark/can-flow/default.px4board

@@ -2,6 +2,7 @@ CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_ROMFSROOT="cannode"
 CONFIG_BOARD_CONSTRAINED_FLASH=y
+CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_BROADCOM_AFBRS50=y
@@ -10,7 +11,14 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_SENSORS=y
+# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
+# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
+# CONFIG_SENSORS_VEHICLE_MAGNETOMETER is not set
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y

boards/ark/can-flow/init/rc.board_sensors

@@ -3,6 +3,8 @@
 # board sensors init
 #------------------------------------------------------------------------------
 
+param set-default IMU_GYRO_RATEMAX 1000
+
 # Internal SPI
 paw3902 -s start -Y 180
 

src/lib/sensor_calibration/Gyroscope.cpp

@@ -110,7 +110,7 @@ void Gyroscope::SensorCorrectionsUpdate(bool force)
 
 bool Gyroscope::set_offset(const Vector3f &offset)
 {
-	if (Vector3f(_offset - offset).longerThan(0.01f)) {
+	if (Vector3f(_offset - offset).longerThan(0.01f) || (_calibration_count == 0)) {
 		if (PX4_ISFINITE(offset(0)) && PX4_ISFINITE(offset(1)) && PX4_ISFINITE(offset(2))) {
 			_offset = offset;
 			_calibration_count++;

src/modules/gyro_calibration/CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2021-2022 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
@@ -41,4 +41,5 @@ px4_add_module(
 		GyroCalibration.hpp
 	DEPENDS
 		px4_work_queue
+		sensor_calibration
 	)

src/modules/gyro_calibration/GyroCalibration.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2021-2022 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
@@ -245,7 +245,7 @@ void GyroCalibration::Run()
 
 				const Vector3f old_offset{_gyro_calibration[gyro].offset()};
 
-				if (_gyro_calibration[gyro].set_offset(_gyro_mean[gyro].mean())) {
+				if (_gyro_calibration[gyro].set_offset(_gyro_mean[gyro].mean()) || !_gyro_calibration[gyro].calibrated()) {
 
 					calibration_updated = true;
 

src/modules/gyro_calibration/GyroCalibration.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2021-2022 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