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simple gyro auto calibration module

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This commit is contained in:
Daniel Agar
2021-03-06 13:14:57 -05:00
committed by Lorenz Meier
parent 01c9a4f24d
commit 2257c3767e
70 changed files with 682 additions and 36 deletions
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.ci/Jenkinsfile-hardware
+2
View File
@@ -1009,6 +1009,7 @@ void statusFTDI() {
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dmesg"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gps status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status; param show CAL_GYRO*"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener adc_report"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener battery_status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload"'
@@ -1071,6 +1072,7 @@ void statusFTDI() {
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status; param show CAL_GYRO*"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ekf2 status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "free"'
// stop logger
ROMFS/px4fmu_common/init.d/rcS
+5
View File
@@ -516,6 +516,11 @@ else
gyro_fft start
fi
if param compare -s IMU_GYRO_CAL_EN 1
then
gyro_calibration start
fi
#
# Optional board supplied extras: rc.board_extras
#
boards/airmind/mindpx-v2/default.cmake
+1
View File
@@ -61,6 +61,7 @@ px4_add_board(
flight_mode_manager
fw_att_control
fw_pos_control_l1
gyro_calibration
gyro_fft
land_detector
landing_target_estimator
boards/atlflight/eagle/default.cmake
+1
View File
@@ -67,6 +67,7 @@ px4_add_board(
flight_mode_manager
fw_att_control
fw_pos_control_l1
gyro_calibration
gyro_fft
land_detector
landing_target_estimator
boards/atlflight/eagle/qurt.cmake
+1
View File
@@ -58,6 +58,7 @@ px4_add_board(
flight_mode_manager
fw_att_control
fw_pos_control_l1
gyro_calibration
gyro_fft
land_detector
landing_target_estimator
boards/atlflight/excelsior/default.cmake
+1
View File
@@ -66,6 +66,7 @@ px4_add_board(
flight_mode_manager
fw_att_control
fw_pos_control_l1
gyro_calibration
gyro_fft
land_detector
landing_target_estimator
boards/atlflight/excelsior/qurt.cmake
+1
View File
@@ -58,6 +58,7 @@ px4_add_board(
flight_mode_manager
fw_att_control
fw_pos_control_l1
gyro_calibration
gyro_fft
land_detector
landing_target_estimator
boards/av/x-v1/default.cmake
+1
View File
@@ -61,6 +61,7 @@ px4_add_board(
flight_mode_manager
fw_att_control
fw_pos_control_l1
gyro_calibration
gyro_fft
land_detector
landing_target_estimator
boards/beaglebone/blue/default.cmake
+1
View File
@@ -43,6 +43,7 @@ px4_add_board(
flight_mode_manager
fw_att_control
fw_pos_control_l1
gyro_calibration
gyro_fft
land_detector
landing_target_estimator
boards/cuav/nora/default.cmake
+1
View File
@@ -65,6 +65,7 @@ px4_add_board(
flight_mode_manager
fw_att_control
fw_pos_control_l1
gyro_calibration
gyro_fft
land_detector
landing_target_estimator
boards/cuav/x7pro/default.cmake
+1
View File
@@ -68,6 +68,7 @@ px4_add_board(
flight_mode_manager
fw_att_control
fw_pos_control_l1
gyro_calibration
gyro_fft
land_detector
landing_target_estimator
boards/cubepilot/cubeorange/console.cmake
+1
View File
@@ -68,6 +68,7 @@ px4_add_board(
flight_mode_manager
fw_att_control
fw_pos_control_l1
gyro_calibration
#gyro_fft
land_detector
landing_target_estimator
boards/cubepilot/cubeorange/default.cmake
+1
View File
@@ -66,6 +66,7 @@ px4_add_board(
flight_mode_manager
fw_att_control
fw_pos_control_l1
gyro_calibration
gyro_fft
land_detector
landing_target_estimator
boards/cubepilot/cubeyellow/console.cmake
+1
View File
@@ -67,6 +67,7 @@ px4_add_board(
flight_mode_manager
fw_att_control
fw_pos_control_l1
gyro_calibration
gyro_fft
land_detector
landing_target_estimator
boards/cubepilot/cubeyellow/default.cmake
+1
View File
@@ -67,6 +67,7 @@ px4_add_board(
flight_mode_manager
fw_att_control
fw_pos_control_l1
gyro_calibration
gyro_fft
land_detector
landing_target_estimator
boards/emlid/navio2/default.cmake
+1
View File
@@ -44,6 +44,7 @@ px4_add_board(
flight_mode_manager
fw_att_control
fw_pos_control_l1
gyro_calibration
gyro_fft
land_detector
landing_target_estimator
boards/holybro/durandal-v1/default.cmake
+1
View File
@@ -66,6 +66,7 @@ px4_add_board(
flight_mode_manager
fw_att_control
fw_pos_control_l1
gyro_calibration
gyro_fft
land_detector
landing_target_estimator
boards/holybro/kakutef7/default.cmake
+1
View File
@@ -38,6 +38,7 @@ px4_add_board(
#ekf2
events
flight_mode_manager
gyro_calibration
#gyro_fft
land_detector
load_mon
boards/holybro/pix32v5/default.cmake
+1
View File
@@ -70,6 +70,7 @@ px4_add_board(
flight_mode_manager
fw_att_control
fw_pos_control_l1
gyro_calibration
gyro_fft
land_detector
landing_target_estimator
boards/modalai/fc-v1/default.cmake
+1
View File
@@ -60,6 +60,7 @@ px4_add_board(
flight_mode_manager
fw_att_control
fw_pos_control_l1
gyro_calibration
gyro_fft
land_detector
landing_target_estimator
boards/mro/ctrl-zero-f7-oem/default.cmake
+1
View File
@@ -64,6 +64,7 @@ px4_add_board(
flight_mode_manager
fw_att_control
fw_pos_control_l1
gyro_calibration
gyro_fft
land_detector
landing_target_estimator
boards/mro/ctrl-zero-f7/default.cmake
+1
View File
@@ -64,6 +64,7 @@ px4_add_board(
flight_mode_manager
fw_att_control
fw_pos_control_l1
gyro_calibration
gyro_fft
land_detector
landing_target_estimator
boards/mro/ctrl-zero-h7-oem/default.cmake
+1
View File
@@ -66,6 +66,7 @@ px4_add_board(
flight_mode_manager
fw_att_control
fw_pos_control_l1
gyro_calibration
gyro_fft
land_detector
landing_target_estimator
boards/mro/ctrl-zero-h7/default.cmake
+1
View File
@@ -66,6 +66,7 @@ px4_add_board(
flight_mode_manager
fw_att_control
fw_pos_control_l1
gyro_calibration
gyro_fft
land_detector
landing_target_estimator
boards/mro/pixracerpro/default.cmake
+1
View File
@@ -66,6 +66,7 @@ px4_add_board(
flight_mode_manager
fw_att_control
fw_pos_control_l1
gyro_calibration
gyro_fft
land_detector
landing_target_estimator
boards/mro/x21-777/default.cmake
+1
View File
@@ -65,6 +65,7 @@ px4_add_board(
flight_mode_manager
fw_att_control
fw_pos_control_l1
gyro_calibration
gyro_fft
land_detector
landing_target_estimator
boards/mro/x21/default.cmake
+1
View File
@@ -62,6 +62,7 @@ px4_add_board(
flight_mode_manager
fw_att_control
fw_pos_control_l1
gyro_calibration
gyro_fft
land_detector
landing_target_estimator
boards/nxp/fmuk66-e/default.cmake
+1
View File
@@ -62,6 +62,7 @@ px4_add_board(
flight_mode_manager
fw_att_control
fw_pos_control_l1
gyro_calibration
gyro_fft
land_detector
landing_target_estimator
boards/nxp/fmuk66-e/socketcan.cmake
+1
View File
@@ -61,6 +61,7 @@ px4_add_board(
flight_mode_manager
fw_att_control
fw_pos_control_l1
gyro_calibration
gyro_fft
land_detector
landing_target_estimator
boards/nxp/fmuk66-v3/default.cmake
+1
View File
@@ -62,6 +62,7 @@ px4_add_board(
flight_mode_manager
fw_att_control
fw_pos_control_l1
gyro_calibration
gyro_fft
land_detector
landing_target_estimator
boards/nxp/fmuk66-v3/rtps.cmake
+1
View File
@@ -61,6 +61,7 @@ px4_add_board(
flight_mode_manager
fw_att_control
fw_pos_control_l1
gyro_calibration
gyro_fft
land_detector
landing_target_estimator
boards/nxp/fmuk66-v3/socketcan.cmake
+1
View File
@@ -61,6 +61,7 @@ px4_add_board(
flight_mode_manager
fw_att_control
fw_pos_control_l1
gyro_calibration
gyro_fft
land_detector
landing_target_estimator
boards/nxp/fmurt1062-v1/default.cmake
+1
View File
@@ -56,6 +56,7 @@ px4_add_board(
ekf2
events
flight_mode_manager
#gyro_calibration
#gyro_fft
land_detector
landing_target_estimator
boards/omnibus/f4sd/default.cmake
+1
View File
@@ -50,6 +50,7 @@ px4_add_board(
flight_mode_manager
#fw_att_control
#fw_pos_control_l1
gyro_calibration
#gyro_fft
land_detector
#landing_target_estimator
boards/px4/fmu-v2/default.cmake
+1
View File
@@ -76,6 +76,7 @@ px4_add_board(
flight_mode_manager
fw_att_control
fw_pos_control_l1
gyro_calibration
#gyro_fft
land_detector
#landing_target_estimator
boards/px4/fmu-v2/fixedwing.cmake
+1
View File
@@ -52,6 +52,7 @@ px4_add_board(
#events
fw_att_control
fw_pos_control_l1
gyro_calibration
#gyro_fft
land_detector
load_mon
boards/px4/fmu-v2/multicopter.cmake
+1
View File
@@ -43,6 +43,7 @@ px4_add_board(
dataman
ekf2
flight_mode_manager
gyro_calibration
#gyro_fft
#events
land_detector
boards/px4/fmu-v3/default.cmake
+1
View File
@@ -74,6 +74,7 @@ px4_add_board(
flight_mode_manager
fw_att_control
fw_pos_control_l1
gyro_calibration
gyro_fft
land_detector
landing_target_estimator
boards/px4/fmu-v4/default.cmake
+1
View File
@@ -70,6 +70,7 @@ px4_add_board(
flight_mode_manager
fw_att_control
fw_pos_control_l1
gyro_calibration
gyro_fft
land_detector
landing_target_estimator
boards/px4/fmu-v4/uavcanv1.cmake
+1
View File
@@ -71,6 +71,7 @@ px4_add_board(
flight_mode_manager
fw_att_control
fw_pos_control_l1
gyro_calibration
gyro_fft
land_detector
landing_target_estimator
boards/px4/fmu-v4pro/default.cmake
+1
View File
@@ -67,6 +67,7 @@ px4_add_board(
flight_mode_manager
fw_att_control
fw_pos_control_l1
gyro_calibration
gyro_fft
land_detector
landing_target_estimator
boards/px4/fmu-v5/ctrlalloc.cmake
+1
View File
@@ -73,6 +73,7 @@ px4_add_board(
flight_mode_manager
fw_att_control
fw_pos_control_l1
gyro_calibration
gyro_fft
land_detector
landing_target_estimator
boards/px4/fmu-v5/debug.cmake
+1
View File
@@ -71,6 +71,7 @@ px4_add_board(
flight_mode_manager
fw_att_control
fw_pos_control_l1
gyro_calibration
#gyro_fft
land_detector
#landing_target_estimator
boards/px4/fmu-v5/default.cmake
+1
View File
@@ -71,6 +71,7 @@ px4_add_board(
flight_mode_manager
fw_att_control
fw_pos_control_l1
gyro_calibration
gyro_fft
land_detector
landing_target_estimator
boards/px4/fmu-v5/fixedwing.cmake
+1
View File
@@ -53,6 +53,7 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
gyro_calibration
gyro_fft
land_detector
load_mon
boards/px4/fmu-v5/optimized.cmake
+1
View File
@@ -64,6 +64,7 @@ px4_add_board(
flight_mode_manager
fw_att_control
fw_pos_control_l1
gyro_calibration
#gyro_fft
land_detector
#landing_target_estimator
boards/px4/fmu-v5/rtps.cmake
+1
View File
@@ -68,6 +68,7 @@ px4_add_board(
flight_mode_manager
fw_att_control
fw_pos_control_l1
gyro_calibration
gyro_fft
land_detector
landing_target_estimator
boards/px4/fmu-v5/stackcheck.cmake
+1
View File
@@ -71,6 +71,7 @@ px4_add_board(
flight_mode_manager
fw_att_control
fw_pos_control_l1
gyro_calibration
#gyro_fft
land_detector
#landing_target_estimator
boards/px4/fmu-v5/uavcanv0periph.cmake
+1 -1
View File
@@ -73,6 +73,7 @@ px4_add_board(
flight_mode_manager
fw_att_control
fw_pos_control_l1
gyro_calibration
#gyro_fft
land_detector
landing_target_estimator
@@ -129,7 +130,6 @@ px4_add_board(
#fake_gyro
#fake_magnetometer
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
#gyro_fft
#hello
#hwtest # Hardware test
#matlab_csv_serial
boards/px4/fmu-v5/uavcanv1.cmake
+1 -1
View File
@@ -72,6 +72,7 @@ px4_add_board(
flight_mode_manager
fw_att_control
fw_pos_control_l1
gyro_calibration
gyro_fft
land_detector
landing_target_estimator
@@ -129,7 +130,6 @@ px4_add_board(
#fake_gyro
#fake_magnetometer
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
#gyro_fft
#hello
#hwtest # Hardware test
#matlab_csv_serial

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