diff --git a/src/modules/sensors/CMakeLists.txt b/src/modules/sensors/CMakeLists.txt index de275e8a8d..0eb8a7e0a9 100644 --- a/src/modules/sensors/CMakeLists.txt +++ b/src/modules/sensors/CMakeLists.txt @@ -45,8 +45,11 @@ px4_add_module( MODULE modules__sensors MAIN sensors SRCS - voted_sensors_update.cpp sensors.cpp + voted_sensors_update.cpp + voted_sensors_update.h + MODULE_CONFIG + module.yaml DEPENDS airspeed conversion diff --git a/src/modules/sensors/module.yaml b/src/modules/sensors/module.yaml new file mode 100644 index 0000000000..d7b04b7d48 --- /dev/null +++ b/src/modules/sensors/module.yaml @@ -0,0 +1,544 @@ +__max_num_sensor_instances: &max_num_sensor_instances 4 + +module_name: sensors + +parameters: + - group: Sensor Calibration + definitions: + + # Accelerometer calibration + CAL_ACC${i}_ID: + description: + short: Accelerometer ${i} calibration device ID + long: Device ID of the accelerometer this calibration applies to. + category: System + type: int32 + default: 0 + num_instances: *max_num_sensor_instances + instance_start: 0 + + CAL_ACC${i}_PRIO: + description: + short: Accelerometer ${i} priority + category: System + type: enum + values: + -1: Uninitialized + 0: Disabled + 1: Min + 25: Low + 50: Medium (Default) + 75: High + 100: Max + default: -1 + num_instances: *max_num_sensor_instances + instance_start: 0 + + CAL_ACC${i}_ROT: + description: + short: Accelerometer ${i} rotation relative to airframe + long: | + An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero. + category: System + type: enum + values: + -1: Internal + 0: No rotation + 1: Yaw 45° + 2: Yaw 90° + 3: Yaw 135° + 4: Yaw 180° + 5: Yaw 225° + 6: Yaw 270° + 7: Yaw 315° + 8: Roll 180° + 9: Roll 180°, Yaw 45° + 10: Roll 180°, Yaw 90° + 11: Roll 180°, Yaw 135° + 12: Pitch 180° + 13: Roll 180°, Yaw 225° + 14: Roll 180°, Yaw 270° + 15: Roll 180°, Yaw 315° + 16: Roll 90° + 17: Roll 90°, Yaw 45° + 18: Roll 90°, Yaw 90° + 19: Roll 90°, Yaw 135° + 20: Roll 270° + 21: Roll 270°, Yaw 45° + 22: Roll 270°, Yaw 90° + 23: Roll 270°, Yaw 135° + 24: Pitch 90° + 25: Pitch 270° + 26: Pitch 180°, Yaw 90° + 27: Pitch 180°, Yaw 270° + 28: Roll 90°, Pitch 90° + 29: Roll 180°, Pitch 90° + 30: Roll 270°, Pitch 90° + 31: Roll 90°, Pitch 180° + 32: Roll 270°, Pitch 180° + 33: Roll 90°, Pitch 270° + 34: Roll 180°, Pitch 270° + 35: Roll 270°, Pitch 270° + 36: Roll 90°, Pitch 180°, Yaw 90° + 37: Roll 90°, Yaw 270° + 38: Roll 90°, Pitch 68°, Yaw 293° + 39: Pitch 315° + 40: Roll 90°, Pitch 315° + min: -1 + max: 40 + default: -1 + num_instances: *max_num_sensor_instances + instance_start: 0 + + CAL_ACC${i}_XOFF: + description: + short: Accelerometer ${i} X-axis offset + category: System + type: float + default: 0.0 + unit: m + volatile: true + num_instances: *max_num_sensor_instances + instance_start: 0 + + CAL_ACC${i}_YOFF: + description: + short: Accelerometer ${i} Y-axis offset + category: System + type: float + default: 0.0 + unit: m + volatile: true + num_instances: *max_num_sensor_instances + instance_start: 0 + + CAL_ACC${i}_ZOFF: + description: + short: Accelerometer ${i} Z-axis offset + category: System + type: float + default: 0.0 + unit: m + volatile: true + num_instances: *max_num_sensor_instances + instance_start: 0 + + CAL_ACC${i}_XSCALE: + description: + short: Accelerometer ${i} X-axis scaling factor + category: System + type: float + default: 1.0 + min: 0.1 + max: 3.0 + volatile: true + num_instances: *max_num_sensor_instances + instance_start: 0 + + CAL_ACC${i}_YSCALE: + description: + short: Accelerometer ${i} Y-axis scaling factor + category: System + type: float + default: 1.0 + min: 0.1 + max: 3.0 + volatile: true + num_instances: *max_num_sensor_instances + instance_start: 0 + + CAL_ACC${i}_ZSCALE: + description: + short: Accelerometer ${i} Z-axis scaling factor + category: System + type: float + default: 1.0 + min: 0.1 + max: 3.0 + volatile: true + num_instances: *max_num_sensor_instances + instance_start: 0 + + CAL_ACC${i}_TEMP: + description: + short: Accelerometer ${i} calibration temperature + long: Temperature during last calibration. + category: System + type: float + default: -1000. + unit: celcius + volatile: true + num_instances: *max_num_sensor_instances + instance_start: 0 + + # Gyroscope calibration + CAL_GYRO${i}_ID: + description: + short: Gyroscope ${i} calibration device ID + long: Device ID of the gyroscope this calibration applies to. + category: System + type: int32 + default: 0 + num_instances: *max_num_sensor_instances + instance_start: 0 + + CAL_GYRO${i}_PRIO: + description: + short: Gyroscope ${i} priority + category: System + type: enum + values: + -1: Uninitialized + 0: Disabled + 1: Min + 25: Low + 50: Medium (Default) + 75: High + 100: Max + default: -1 + num_instances: *max_num_sensor_instances + instance_start: 0 + + CAL_GYRO${i}_ROT: + description: + short: Gyroscope ${i} rotation relative to airframe + long: | + An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero. + category: System + type: enum + values: + -1: Internal + 0: No rotation + 1: Yaw 45° + 2: Yaw 90° + 3: Yaw 135° + 4: Yaw 180° + 5: Yaw 225° + 6: Yaw 270° + 7: Yaw 315° + 8: Roll 180° + 9: Roll 180°, Yaw 45° + 10: Roll 180°, Yaw 90° + 11: Roll 180°, Yaw 135° + 12: Pitch 180° + 13: Roll 180°, Yaw 225° + 14: Roll 180°, Yaw 270° + 15: Roll 180°, Yaw 315° + 16: Roll 90° + 17: Roll 90°, Yaw 45° + 18: Roll 90°, Yaw 90° + 19: Roll 90°, Yaw 135° + 20: Roll 270° + 21: Roll 270°, Yaw 45° + 22: Roll 270°, Yaw 90° + 23: Roll 270°, Yaw 135° + 24: Pitch 90° + 25: Pitch 270° + 26: Pitch 180°, Yaw 90° + 27: Pitch 180°, Yaw 270° + 28: Roll 90°, Pitch 90° + 29: Roll 180°, Pitch 90° + 30: Roll 270°, Pitch 90° + 31: Roll 90°, Pitch 180° + 32: Roll 270°, Pitch 180° + 33: Roll 90°, Pitch 270° + 34: Roll 180°, Pitch 270° + 35: Roll 270°, Pitch 270° + 36: Roll 90°, Pitch 180°, Yaw 90° + 37: Roll 90°, Yaw 270° + 38: Roll 90°, Pitch 68°, Yaw 293° + 39: Pitch 315° + 40: Roll 90°, Pitch 315° + min: -1 + max: 40 + default: -1 + num_instances: *max_num_sensor_instances + instance_start: 0 + + CAL_GYRO${i}_XOFF: + description: + short: Gyroscope ${i} X-axis offset + category: System + type: float + default: 0.0 + unit: m + volatile: true + num_instances: *max_num_sensor_instances + instance_start: 0 + + CAL_GYRO${i}_YOFF: + description: + short: Gyroscope ${i} Y-axis offset + category: System + type: float + default: 0.0 + unit: m + volatile: true + num_instances: *max_num_sensor_instances + instance_start: 0 + + CAL_GYRO${i}_ZOFF: + description: + short: Gyroscope ${i} Z-axis offset + category: System + type: float + default: 0.0 + unit: m + volatile: true + num_instances: *max_num_sensor_instances + instance_start: 0 + + CAL_GYRO${i}_TEMP: + description: + short: Gyroscope ${i} calibration temperature + long: Temperature during last calibration. + category: System + type: float + default: -1000. + unit: celcius + volatile: true + num_instances: *max_num_sensor_instances + instance_start: 0 + + # Magnetometer calibration + CAL_MAG${i}_ID: + description: + short: Magnetometer ${i} calibration device ID + long: Device ID of the magnetometer this calibration applies to. + category: System + type: int32 + default: 0 + num_instances: *max_num_sensor_instances + instance_start: 0 + + CAL_MAG${i}_PRIO: + description: + short: Magnetometer ${i} priority + category: System + type: enum + values: + -1: Uninitialized + 0: Disabled + 1: Min + 25: Low + 50: Medium (Default) + 75: High + 100: Max + default: -1 + num_instances: *max_num_sensor_instances + instance_start: 0 + + CAL_MAG${i}_ROT: + description: + short: Magnetometer ${i} rotation relative to airframe + long: | + An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero. + category: System + type: enum + values: + -1: Internal + 0: No rotation + 1: Yaw 45° + 2: Yaw 90° + 3: Yaw 135° + 4: Yaw 180° + 5: Yaw 225° + 6: Yaw 270° + 7: Yaw 315° + 8: Roll 180° + 9: Roll 180°, Yaw 45° + 10: Roll 180°, Yaw 90° + 11: Roll 180°, Yaw 135° + 12: Pitch 180° + 13: Roll 180°, Yaw 225° + 14: Roll 180°, Yaw 270° + 15: Roll 180°, Yaw 315° + 16: Roll 90° + 17: Roll 90°, Yaw 45° + 18: Roll 90°, Yaw 90° + 19: Roll 90°, Yaw 135° + 20: Roll 270° + 21: Roll 270°, Yaw 45° + 22: Roll 270°, Yaw 90° + 23: Roll 270°, Yaw 135° + 24: Pitch 90° + 25: Pitch 270° + 26: Pitch 180°, Yaw 90° + 27: Pitch 180°, Yaw 270° + 28: Roll 90°, Pitch 90° + 29: Roll 180°, Pitch 90° + 30: Roll 270°, Pitch 90° + 31: Roll 90°, Pitch 180° + 32: Roll 270°, Pitch 180° + 33: Roll 90°, Pitch 270° + 34: Roll 180°, Pitch 270° + 35: Roll 270°, Pitch 270° + 36: Roll 90°, Pitch 180°, Yaw 90° + 37: Roll 90°, Yaw 270° + 38: Roll 90°, Pitch 68°, Yaw 293° + 39: Pitch 315° + 40: Roll 90°, Pitch 315° + min: -1 + max: 40 + default: -1 + num_instances: *max_num_sensor_instances + instance_start: 0 + + CAL_MAG${i}_XOFF: + description: + short: Magnetometer ${i} X-axis offset + category: System + type: float + default: 0.0 + unit: m + volatile: true + num_instances: *max_num_sensor_instances + instance_start: 0 + + CAL_MAG${i}_YOFF: + description: + short: Magnetometer ${i} Y-axis offset + category: System + type: float + default: 0.0 + unit: m + volatile: true + num_instances: *max_num_sensor_instances + instance_start: 0 + + CAL_MAG${i}_ZOFF: + description: + short: Magnetometer ${i} Z-axis offset + category: System + type: float + default: 0.0 + unit: m + volatile: true + num_instances: *max_num_sensor_instances + instance_start: 0 + + CAL_MAG${i}_XSCALE: + description: + short: Magnetometer ${i} X-axis scaling factor + category: System + type: float + default: 1.0 + min: 0.1 + max: 3.0 + volatile: true + num_instances: *max_num_sensor_instances + instance_start: 0 + + CAL_MAG${i}_YSCALE: + description: + short: Magnetometer ${i} Y-axis scaling factor + category: System + type: float + default: 1.0 + min: 0.1 + max: 3.0 + volatile: true + num_instances: *max_num_sensor_instances + instance_start: 0 + + CAL_MAG${i}_ZSCALE: + description: + short: Magnetometer ${i} Z-axis scaling factor + category: System + type: float + default: 1.0 + min: 0.1 + max: 3.0 + volatile: true + num_instances: *max_num_sensor_instances + instance_start: 0 + + CAL_MAG${i}_XODIAG: + description: + short: Magnetometer ${i} X-axis off diagonal scale factor + category: System + type: float + default: 0.0 + volatile: true + num_instances: *max_num_sensor_instances + instance_start: 0 + + CAL_MAG${i}_YODIAG: + description: + short: Magnetometer ${i} Y-axis off diagonal scale factor + category: System + type: float + default: 0.0 + volatile: true + num_instances: *max_num_sensor_instances + instance_start: 0 + + CAL_MAG${i}_ZODIAG: + description: + short: Magnetometer ${i} Z-axis off diagonal scale factor + category: System + type: float + default: 0.0 + volatile: true + num_instances: *max_num_sensor_instances + instance_start: 0 + + CAL_MAG${i}_XCOMP: + description: + short: Magnetometer ${i} X Axis throttle compensation + long: | + Coefficient describing linear relationship between + X component of magnetometer in body frame axis + and either current or throttle depending on value of CAL_MAG_COMP_TYP. + Unit for throttle-based compensation is [G] and + for current-based compensation [G/kA] + category: System + type: float + default: 0.0 + volatile: true + num_instances: *max_num_sensor_instances + instance_start: 0 + + CAL_MAG${i}_YCOMP: + description: + short: Magnetometer ${i} Y Axis throttle compensation + long: | + Coefficient describing linear relationship between + Y component of magnetometer in body frame axis + and either current or throttle depending on value of CAL_MAG_COMP_TYP. + Unit for throttle-based compensation is [G] and + for current-based compensation [G/kA] + category: System + type: float + default: 0.0 + volatile: true + num_instances: *max_num_sensor_instances + instance_start: 0 + + CAL_MAG${i}_ZCOMP: + description: + short: Magnetometer ${i} Z Axis throttle compensation + long: | + Coefficient describing linear relationship between + Z component of magnetometer in body frame axis + and either current or throttle depending on value of CAL_MAG_COMP_TYP. + Unit for throttle-based compensation is [G] and + for current-based compensation [G/kA] + category: System + type: float + default: 0.0 + volatile: true + num_instances: *max_num_sensor_instances + instance_start: 0 + + CAL_MAG${i}_TEMP: + description: + short: Magnetometer ${i} calibration temperature + long: Temperature during last calibration. + category: System + type: float + default: -1000. + unit: celcius + volatile: true + num_instances: *max_num_sensor_instances + instance_start: 0 diff --git a/src/modules/sensors/sensor_params_acc0.c b/src/modules/sensors/sensor_params_acc0.c deleted file mode 100644 index b7f3d5d162..0000000000 --- a/src/modules/sensors/sensor_params_acc0.c +++ /dev/null @@ -1,180 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2012-2020 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. - * - ****************************************************************************/ - -/** - * ID of the Accelerometer that the calibration is for. - * - * @category system - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_ACC0_ID, 0); - -/** - * Accelerometer 0 priority. - * - * @value -1 Uninitialized - * @value 0 Disabled - * @value 1 Min - * @value 25 Low - * @value 50 Medium (Default) - * @value 75 High - * @value 100 Max - * - * @category system - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_ACC0_PRIO, -1); - -/** - * Rotation of accelerometer 0 relative to airframe. - * - * An internal sensor will force a value of -1, so a GCS - * should only attempt to configure the rotation if the value is - * greater than or equal to zero. - * - * @value -1 Internal - * @value 0 No rotation - * @value 1 Yaw 45° - * @value 2 Yaw 90° - * @value 3 Yaw 135° - * @value 4 Yaw 180° - * @value 5 Yaw 225° - * @value 6 Yaw 270° - * @value 7 Yaw 315° - * @value 8 Roll 180° - * @value 9 Roll 180°, Yaw 45° - * @value 10 Roll 180°, Yaw 90° - * @value 11 Roll 180°, Yaw 135° - * @value 12 Pitch 180° - * @value 13 Roll 180°, Yaw 225° - * @value 14 Roll 180°, Yaw 270° - * @value 15 Roll 180°, Yaw 315° - * @value 16 Roll 90° - * @value 17 Roll 90°, Yaw 45° - * @value 18 Roll 90°, Yaw 90° - * @value 19 Roll 90°, Yaw 135° - * @value 20 Roll 270° - * @value 21 Roll 270°, Yaw 45° - * @value 22 Roll 270°, Yaw 90° - * @value 23 Roll 270°, Yaw 135° - * @value 24 Pitch 90° - * @value 25 Pitch 270° - * @value 26 Pitch 180°, Yaw 90° - * @value 27 Pitch 180°, Yaw 270° - * @value 28 Roll 90°, Pitch 90° - * @value 29 Roll 180°, Pitch 90° - * @value 30 Roll 270°, Pitch 90° - * @value 31 Roll 90°, Pitch 180° - * @value 32 Roll 270°, Pitch 180° - * @value 33 Roll 90°, Pitch 270° - * @value 34 Roll 180°, Pitch 270° - * @value 35 Roll 270°, Pitch 270° - * @value 36 Roll 90°, Pitch 180°, Yaw 90° - * @value 37 Roll 90°, Yaw 270° - * @value 38 Roll 90°, Pitch 68°, Yaw 293° - * @value 39 Pitch 315° - * @value 40 Roll 90°, Pitch 315° - * - * @min -1 - * @max 40 - * @reboot_required true - * @category system - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_ACC0_ROT, -1); - -/** - * Accelerometer X-axis offset - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_ACC0_XOFF, 0.0f); - -/** - * Accelerometer Y-axis offset - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_ACC0_YOFF, 0.0f); - -/** - * Accelerometer Z-axis offset - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_ACC0_ZOFF, 0.0f); - -/** - * Accelerometer X-axis scaling factor - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_ACC0_XSCALE, 1.0f); - -/** - * Accelerometer Y-axis scaling factor - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_ACC0_YSCALE, 1.0f); - -/** - * Accelerometer Z-axis scaling factor - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_ACC0_ZSCALE, 1.0f); - -/** - * Accelerometer calibration temperature - * - * Temperature during last calibration. - * - * @unit celcius - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_ACC0_TEMP, -1000.f); diff --git a/src/modules/sensors/sensor_params_acc1.c b/src/modules/sensors/sensor_params_acc1.c deleted file mode 100644 index eb5351a37d..0000000000 --- a/src/modules/sensors/sensor_params_acc1.c +++ /dev/null @@ -1,180 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2012-2020 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. - * - ****************************************************************************/ - -/** - * ID of the Accelerometer that the calibration is for. - * - * @category system - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_ACC1_ID, 0); - -/** - * Accelerometer 1 priority. - * - * @value -1 Uninitialized - * @value 0 Disabled - * @value 1 Min - * @value 25 Low - * @value 50 Medium (Default) - * @value 75 High - * @value 100 Max - * - * @category system - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_ACC1_PRIO, -1); - -/** - * Rotation of accelerometer 1 relative to airframe. - * - * An internal sensor will force a value of -1, so a GCS - * should only attempt to configure the rotation if the value is - * greater than or equal to zero. - * - * @value -1 Internal - * @value 0 No rotation - * @value 1 Yaw 45° - * @value 2 Yaw 90° - * @value 3 Yaw 135° - * @value 4 Yaw 180° - * @value 5 Yaw 225° - * @value 6 Yaw 270° - * @value 7 Yaw 315° - * @value 8 Roll 180° - * @value 9 Roll 180°, Yaw 45° - * @value 10 Roll 180°, Yaw 90° - * @value 11 Roll 180°, Yaw 135° - * @value 12 Pitch 180° - * @value 13 Roll 180°, Yaw 225° - * @value 14 Roll 180°, Yaw 270° - * @value 15 Roll 180°, Yaw 315° - * @value 16 Roll 90° - * @value 17 Roll 90°, Yaw 45° - * @value 18 Roll 90°, Yaw 90° - * @value 19 Roll 90°, Yaw 135° - * @value 20 Roll 270° - * @value 21 Roll 270°, Yaw 45° - * @value 22 Roll 270°, Yaw 90° - * @value 23 Roll 270°, Yaw 135° - * @value 24 Pitch 90° - * @value 25 Pitch 270° - * @value 26 Pitch 180°, Yaw 90° - * @value 27 Pitch 180°, Yaw 270° - * @value 28 Roll 90°, Pitch 90° - * @value 29 Roll 180°, Pitch 90° - * @value 30 Roll 270°, Pitch 90° - * @value 31 Roll 90°, Pitch 180° - * @value 32 Roll 270°, Pitch 180° - * @value 33 Roll 90°, Pitch 270° - * @value 34 Roll 180°, Pitch 270° - * @value 35 Roll 270°, Pitch 270° - * @value 36 Roll 90°, Pitch 180°, Yaw 90° - * @value 37 Roll 90°, Yaw 270° - * @value 38 Roll 90°, Pitch 68°, Yaw 293° - * @value 39 Pitch 315° - * @value 40 Roll 90°, Pitch 315° - * - * @min -1 - * @max 40 - * @reboot_required true - * @category system - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_ACC1_ROT, -1); - -/** - * Accelerometer X-axis offset - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_ACC1_XOFF, 0.0f); - -/** - * Accelerometer Y-axis offset - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_ACC1_YOFF, 0.0f); - -/** - * Accelerometer Z-axis offset - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_ACC1_ZOFF, 0.0f); - -/** - * Accelerometer X-axis scaling factor - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_ACC1_XSCALE, 1.0f); - -/** - * Accelerometer Y-axis scaling factor - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_ACC1_YSCALE, 1.0f); - -/** - * Accelerometer Z-axis scaling factor - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_ACC1_ZSCALE, 1.0f); - -/** - * Accelerometer calibration temperature - * - * Temperature during last calibration. - * - * @unit celcius - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_ACC1_TEMP, -1000.f); diff --git a/src/modules/sensors/sensor_params_acc2.c b/src/modules/sensors/sensor_params_acc2.c deleted file mode 100644 index 98eaa14312..0000000000 --- a/src/modules/sensors/sensor_params_acc2.c +++ /dev/null @@ -1,180 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2012-2020 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. - * - ****************************************************************************/ - -/** - * ID of the Accelerometer that the calibration is for. - * - * @category system - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_ACC2_ID, 0); - -/** - * Accelerometer 2 priority. - * - * @value -1 Uninitialized - * @value 0 Disabled - * @value 1 Min - * @value 25 Low - * @value 50 Medium (Default) - * @value 75 High - * @value 100 Max - * - * @category system - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_ACC2_PRIO, -1); - -/** - * Rotation of accelerometer 2 relative to airframe. - * - * An internal sensor will force a value of -1, so a GCS - * should only attempt to configure the rotation if the value is - * greater than or equal to zero. - * - * @value -1 Internal - * @value 0 No rotation - * @value 1 Yaw 45° - * @value 2 Yaw 90° - * @value 3 Yaw 135° - * @value 4 Yaw 180° - * @value 5 Yaw 225° - * @value 6 Yaw 270° - * @value 7 Yaw 315° - * @value 8 Roll 180° - * @value 9 Roll 180°, Yaw 45° - * @value 10 Roll 180°, Yaw 90° - * @value 11 Roll 180°, Yaw 135° - * @value 12 Pitch 180° - * @value 13 Roll 180°, Yaw 225° - * @value 14 Roll 180°, Yaw 270° - * @value 15 Roll 180°, Yaw 315° - * @value 16 Roll 90° - * @value 17 Roll 90°, Yaw 45° - * @value 18 Roll 90°, Yaw 90° - * @value 19 Roll 90°, Yaw 135° - * @value 20 Roll 270° - * @value 21 Roll 270°, Yaw 45° - * @value 22 Roll 270°, Yaw 90° - * @value 23 Roll 270°, Yaw 135° - * @value 24 Pitch 90° - * @value 25 Pitch 270° - * @value 26 Pitch 180°, Yaw 90° - * @value 27 Pitch 180°, Yaw 270° - * @value 28 Roll 90°, Pitch 90° - * @value 29 Roll 180°, Pitch 90° - * @value 30 Roll 270°, Pitch 90° - * @value 31 Roll 90°, Pitch 180° - * @value 32 Roll 270°, Pitch 180° - * @value 33 Roll 90°, Pitch 270° - * @value 34 Roll 180°, Pitch 270° - * @value 35 Roll 270°, Pitch 270° - * @value 36 Roll 90°, Pitch 180°, Yaw 90° - * @value 37 Roll 90°, Yaw 270° - * @value 38 Roll 90°, Pitch 68°, Yaw 293° - * @value 39 Pitch 315° - * @value 40 Roll 90°, Pitch 315° - * - * @min -1 - * @max 40 - * @reboot_required true - * @category system - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_ACC2_ROT, -1); - -/** - * Accelerometer X-axis offset - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_ACC2_XOFF, 0.0f); - -/** - * Accelerometer Y-axis offset - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_ACC2_YOFF, 0.0f); - -/** - * Accelerometer Z-axis offset - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_ACC2_ZOFF, 0.0f); - -/** - * Accelerometer X-axis scaling factor - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_ACC2_XSCALE, 1.0f); - -/** - * Accelerometer Y-axis scaling factor - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_ACC2_YSCALE, 1.0f); - -/** - * Accelerometer Z-axis scaling factor - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_ACC2_ZSCALE, 1.0f); - -/** - * Accelerometer calibration temperature - * - * Temperature during last calibration. - * - * @unit celcius - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_ACC2_TEMP, -1000.f); diff --git a/src/modules/sensors/sensor_params_acc3.c b/src/modules/sensors/sensor_params_acc3.c deleted file mode 100644 index 972d554e37..0000000000 --- a/src/modules/sensors/sensor_params_acc3.c +++ /dev/null @@ -1,180 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2012-2020 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. - * - ****************************************************************************/ - -/** - * ID of the Accelerometer that the calibration is for. - * - * @category system - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_ACC3_ID, 0); - -/** - * Accelerometer 3 priority. - * - * @value -1 Uninitialized - * @value 0 Disabled - * @value 1 Min - * @value 25 Low - * @value 50 Medium (Default) - * @value 75 High - * @value 100 Max - * - * @category system - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_ACC3_PRIO, -1); - -/** - * Rotation of accelerometer 3 relative to airframe. - * - * An internal sensor will force a value of -1, so a GCS - * should only attempt to configure the rotation if the value is - * greater than or equal to zero. - * - * @value -1 Internal - * @value 0 No rotation - * @value 1 Yaw 45° - * @value 2 Yaw 90° - * @value 3 Yaw 135° - * @value 4 Yaw 180° - * @value 5 Yaw 225° - * @value 6 Yaw 270° - * @value 7 Yaw 315° - * @value 8 Roll 180° - * @value 9 Roll 180°, Yaw 45° - * @value 10 Roll 180°, Yaw 90° - * @value 11 Roll 180°, Yaw 135° - * @value 12 Pitch 180° - * @value 13 Roll 180°, Yaw 225° - * @value 14 Roll 180°, Yaw 270° - * @value 15 Roll 180°, Yaw 315° - * @value 16 Roll 90° - * @value 17 Roll 90°, Yaw 45° - * @value 18 Roll 90°, Yaw 90° - * @value 19 Roll 90°, Yaw 135° - * @value 20 Roll 270° - * @value 21 Roll 270°, Yaw 45° - * @value 22 Roll 270°, Yaw 90° - * @value 23 Roll 270°, Yaw 135° - * @value 24 Pitch 90° - * @value 25 Pitch 270° - * @value 26 Pitch 180°, Yaw 90° - * @value 27 Pitch 180°, Yaw 270° - * @value 28 Roll 90°, Pitch 90° - * @value 29 Roll 180°, Pitch 90° - * @value 30 Roll 270°, Pitch 90° - * @value 31 Roll 90°, Pitch 180° - * @value 32 Roll 270°, Pitch 180° - * @value 33 Roll 90°, Pitch 270° - * @value 34 Roll 180°, Pitch 270° - * @value 35 Roll 270°, Pitch 270° - * @value 36 Roll 90°, Pitch 180°, Yaw 90° - * @value 37 Roll 90°, Yaw 270° - * @value 38 Roll 90°, Pitch 68°, Yaw 293° - * @value 39 Pitch 315° - * @value 40 Roll 90°, Pitch 315° - * - * @min -1 - * @max 40 - * @reboot_required true - * @category system - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_ACC3_ROT, -1); - -/** - * Accelerometer X-axis offset - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_ACC3_XOFF, 0.0f); - -/** - * Accelerometer Y-axis offset - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_ACC3_YOFF, 0.0f); - -/** - * Accelerometer Z-axis offset - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_ACC3_ZOFF, 0.0f); - -/** - * Accelerometer X-axis scaling factor - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_ACC3_XSCALE, 1.0f); - -/** - * Accelerometer Y-axis scaling factor - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_ACC3_YSCALE, 1.0f); - -/** - * Accelerometer Z-axis scaling factor - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_ACC3_ZSCALE, 1.0f); - -/** - * Accelerometer calibration temperature - * - * Temperature during last calibration. - * - * @unit celcius - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_ACC3_TEMP, -1000.f); diff --git a/src/modules/sensors/sensor_params_gyro0.c b/src/modules/sensors/sensor_params_gyro0.c deleted file mode 100644 index 1f3f03b2fa..0000000000 --- a/src/modules/sensors/sensor_params_gyro0.c +++ /dev/null @@ -1,153 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2012-2020 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. - * - ****************************************************************************/ - -/** - * ID of the Gyro that the calibration is for. - * - * @category system - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_GYRO0_ID, 0); - -/** - * Gyro 0 priority. - * - * @value -1 Uninitialized - * @value 0 Disabled - * @value 1 Min - * @value 25 Low - * @value 50 Medium (Default) - * @value 75 High - * @value 100 Max - * - * @category system - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_GYRO0_PRIO, -1); - -/** - * Rotation of gyro 0 relative to airframe. - * - * An internal sensor will force a value of -1, so a GCS - * should only attempt to configure the rotation if the value is - * greater than or equal to zero. - * - * @value -1 Internal - * @value 0 No rotation - * @value 1 Yaw 45° - * @value 2 Yaw 90° - * @value 3 Yaw 135° - * @value 4 Yaw 180° - * @value 5 Yaw 225° - * @value 6 Yaw 270° - * @value 7 Yaw 315° - * @value 8 Roll 180° - * @value 9 Roll 180°, Yaw 45° - * @value 10 Roll 180°, Yaw 90° - * @value 11 Roll 180°, Yaw 135° - * @value 12 Pitch 180° - * @value 13 Roll 180°, Yaw 225° - * @value 14 Roll 180°, Yaw 270° - * @value 15 Roll 180°, Yaw 315° - * @value 16 Roll 90° - * @value 17 Roll 90°, Yaw 45° - * @value 18 Roll 90°, Yaw 90° - * @value 19 Roll 90°, Yaw 135° - * @value 20 Roll 270° - * @value 21 Roll 270°, Yaw 45° - * @value 22 Roll 270°, Yaw 90° - * @value 23 Roll 270°, Yaw 135° - * @value 24 Pitch 90° - * @value 25 Pitch 270° - * @value 26 Pitch 180°, Yaw 90° - * @value 27 Pitch 180°, Yaw 270° - * @value 28 Roll 90°, Pitch 90° - * @value 29 Roll 180°, Pitch 90° - * @value 30 Roll 270°, Pitch 90° - * @value 31 Roll 90°, Pitch 180° - * @value 32 Roll 270°, Pitch 180° - * @value 33 Roll 90°, Pitch 270° - * @value 34 Roll 180°, Pitch 270° - * @value 35 Roll 270°, Pitch 270° - * @value 36 Roll 90°, Pitch 180°, Yaw 90° - * @value 37 Roll 90°, Yaw 270° - * @value 38 Roll 90°, Pitch 68°, Yaw 293° - * @value 39 Pitch 315° - * @value 40 Roll 90°, Pitch 315° - * - * @min -1 - * @max 40 - * @reboot_required true - * @category system - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_GYRO0_ROT, -1); - -/** - * Gyro X-axis offset - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_GYRO0_XOFF, 0.0f); - -/** - * Gyro Y-axis offset - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_GYRO0_YOFF, 0.0f); - -/** - * Gyro Z-axis offset - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_GYRO0_ZOFF, 0.0f); - -/** - * Gyroscope calibration temperature - * - * Temperature during last calibration. - * - * @unit celcius - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_GYRO0_TEMP, -1000.f); diff --git a/src/modules/sensors/sensor_params_gyro1.c b/src/modules/sensors/sensor_params_gyro1.c deleted file mode 100644 index 6ef782ef8c..0000000000 --- a/src/modules/sensors/sensor_params_gyro1.c +++ /dev/null @@ -1,153 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2012-2020 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. - * - ****************************************************************************/ - -/** - * ID of the Gyro that the calibration is for. - * - * @category system - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_GYRO1_ID, 0); - -/** - * Gyro 1 priority. - * - * @value -1 Uninitialized - * @value 0 Disabled - * @value 1 Min - * @value 25 Low - * @value 50 Medium (Default) - * @value 75 High - * @value 100 Max - * - * @category system - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_GYRO1_PRIO, -1); - -/** - * Rotation of gyro 1 relative to airframe. - * - * An internal sensor will force a value of -1, so a GCS - * should only attempt to configure the rotation if the value is - * greater than or equal to zero. - * - * @value -1 Internal - * @value 0 No rotation - * @value 1 Yaw 45° - * @value 2 Yaw 90° - * @value 3 Yaw 135° - * @value 4 Yaw 180° - * @value 5 Yaw 225° - * @value 6 Yaw 270° - * @value 7 Yaw 315° - * @value 8 Roll 180° - * @value 9 Roll 180°, Yaw 45° - * @value 10 Roll 180°, Yaw 90° - * @value 11 Roll 180°, Yaw 135° - * @value 12 Pitch 180° - * @value 13 Roll 180°, Yaw 225° - * @value 14 Roll 180°, Yaw 270° - * @value 15 Roll 180°, Yaw 315° - * @value 16 Roll 90° - * @value 17 Roll 90°, Yaw 45° - * @value 18 Roll 90°, Yaw 90° - * @value 19 Roll 90°, Yaw 135° - * @value 20 Roll 270° - * @value 21 Roll 270°, Yaw 45° - * @value 22 Roll 270°, Yaw 90° - * @value 23 Roll 270°, Yaw 135° - * @value 24 Pitch 90° - * @value 25 Pitch 270° - * @value 26 Pitch 180°, Yaw 90° - * @value 27 Pitch 180°, Yaw 270° - * @value 28 Roll 90°, Pitch 90° - * @value 29 Roll 180°, Pitch 90° - * @value 30 Roll 270°, Pitch 90° - * @value 31 Roll 90°, Pitch 180° - * @value 32 Roll 270°, Pitch 180° - * @value 33 Roll 90°, Pitch 270° - * @value 34 Roll 180°, Pitch 270° - * @value 35 Roll 270°, Pitch 270° - * @value 36 Roll 90°, Pitch 180°, Yaw 90° - * @value 37 Roll 90°, Yaw 270° - * @value 38 Roll 90°, Pitch 68°, Yaw 293° - * @value 39 Pitch 315° - * @value 40 Roll 90°, Pitch 315° - * - * @min -1 - * @max 40 - * @reboot_required true - * @category system - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_GYRO1_ROT, -1); - -/** - * Gyro X-axis offset - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_GYRO1_XOFF, 0.0f); - -/** - * Gyro Y-axis offset - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_GYRO1_YOFF, 0.0f); - -/** - * Gyro Z-axis offset - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_GYRO1_ZOFF, 0.0f); - -/** - * Gyroscope calibration temperature - * - * Temperature during last calibration. - * - * @unit celcius - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_GYRO1_TEMP, -1000.f); diff --git a/src/modules/sensors/sensor_params_gyro2.c b/src/modules/sensors/sensor_params_gyro2.c deleted file mode 100644 index 2f5e91e35f..0000000000 --- a/src/modules/sensors/sensor_params_gyro2.c +++ /dev/null @@ -1,153 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2012-2020 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. - * - ****************************************************************************/ - -/** - * ID of the Gyro that the calibration is for. - * - * @category system - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_GYRO2_ID, 0); - -/** - * Gyro 2 priority. - * - * @value -1 Uninitialized - * @value 0 Disabled - * @value 1 Min - * @value 25 Low - * @value 50 Medium (Default) - * @value 75 High - * @value 100 Max - * - * @category system - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_GYRO2_PRIO, -1); - -/** - * Rotation of gyro 2 relative to airframe. - * - * An internal sensor will force a value of -1, so a GCS - * should only attempt to configure the rotation if the value is - * greater than or equal to zero. - * - * @value -1 Internal - * @value 0 No rotation - * @value 1 Yaw 45° - * @value 2 Yaw 90° - * @value 3 Yaw 135° - * @value 4 Yaw 180° - * @value 5 Yaw 225° - * @value 6 Yaw 270° - * @value 7 Yaw 315° - * @value 8 Roll 180° - * @value 9 Roll 180°, Yaw 45° - * @value 10 Roll 180°, Yaw 90° - * @value 11 Roll 180°, Yaw 135° - * @value 12 Pitch 180° - * @value 13 Roll 180°, Yaw 225° - * @value 14 Roll 180°, Yaw 270° - * @value 15 Roll 180°, Yaw 315° - * @value 16 Roll 90° - * @value 17 Roll 90°, Yaw 45° - * @value 18 Roll 90°, Yaw 90° - * @value 19 Roll 90°, Yaw 135° - * @value 20 Roll 270° - * @value 21 Roll 270°, Yaw 45° - * @value 22 Roll 270°, Yaw 90° - * @value 23 Roll 270°, Yaw 135° - * @value 24 Pitch 90° - * @value 25 Pitch 270° - * @value 26 Pitch 180°, Yaw 90° - * @value 27 Pitch 180°, Yaw 270° - * @value 28 Roll 90°, Pitch 90° - * @value 29 Roll 180°, Pitch 90° - * @value 30 Roll 270°, Pitch 90° - * @value 31 Roll 90°, Pitch 180° - * @value 32 Roll 270°, Pitch 180° - * @value 33 Roll 90°, Pitch 270° - * @value 34 Roll 180°, Pitch 270° - * @value 35 Roll 270°, Pitch 270° - * @value 36 Roll 90°, Pitch 180°, Yaw 90° - * @value 37 Roll 90°, Yaw 270° - * @value 38 Roll 90°, Pitch 68°, Yaw 293° - * @value 39 Pitch 315° - * @value 40 Roll 90°, Pitch 315° - * - * @min -1 - * @max 40 - * @reboot_required true - * @category system - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_GYRO2_ROT, -1); - -/** - * Gyro X-axis offset - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_GYRO2_XOFF, 0.0f); - -/** - * Gyro Y-axis offset - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_GYRO2_YOFF, 0.0f); - -/** - * Gyro Z-axis offset - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_GYRO2_ZOFF, 0.0f); - -/** - * Gyroscope calibration temperature - * - * Temperature during last calibration. - * - * @unit celcius - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_GYRO2_TEMP, -1000.f); diff --git a/src/modules/sensors/sensor_params_gyro3.c b/src/modules/sensors/sensor_params_gyro3.c deleted file mode 100644 index 74a4dcd509..0000000000 --- a/src/modules/sensors/sensor_params_gyro3.c +++ /dev/null @@ -1,153 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2012-2020 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. - * - ****************************************************************************/ - -/** - * ID of the Gyro that the calibration is for. - * - * @category system - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_GYRO3_ID, 0); - -/** - * Gyro 3 priority. - * - * @value -1 Uninitialized - * @value 0 Disabled - * @value 1 Min - * @value 25 Low - * @value 50 Medium (Default) - * @value 75 High - * @value 100 Max - * - * @category system - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_GYRO3_PRIO, -1); - -/** - * Rotation of gyro 3 relative to airframe. - * - * An internal sensor will force a value of -1, so a GCS - * should only attempt to configure the rotation if the value is - * greater than or equal to zero. - * - * @value -1 Internal - * @value 0 No rotation - * @value 1 Yaw 45° - * @value 2 Yaw 90° - * @value 3 Yaw 135° - * @value 4 Yaw 180° - * @value 5 Yaw 225° - * @value 6 Yaw 270° - * @value 7 Yaw 315° - * @value 8 Roll 180° - * @value 9 Roll 180°, Yaw 45° - * @value 10 Roll 180°, Yaw 90° - * @value 11 Roll 180°, Yaw 135° - * @value 12 Pitch 180° - * @value 13 Roll 180°, Yaw 225° - * @value 14 Roll 180°, Yaw 270° - * @value 15 Roll 180°, Yaw 315° - * @value 16 Roll 90° - * @value 17 Roll 90°, Yaw 45° - * @value 18 Roll 90°, Yaw 90° - * @value 19 Roll 90°, Yaw 135° - * @value 20 Roll 270° - * @value 21 Roll 270°, Yaw 45° - * @value 22 Roll 270°, Yaw 90° - * @value 23 Roll 270°, Yaw 135° - * @value 24 Pitch 90° - * @value 25 Pitch 270° - * @value 26 Pitch 180°, Yaw 90° - * @value 27 Pitch 180°, Yaw 270° - * @value 28 Roll 90°, Pitch 90° - * @value 29 Roll 180°, Pitch 90° - * @value 30 Roll 270°, Pitch 90° - * @value 31 Roll 90°, Pitch 180° - * @value 32 Roll 270°, Pitch 180° - * @value 33 Roll 90°, Pitch 270° - * @value 34 Roll 180°, Pitch 270° - * @value 35 Roll 270°, Pitch 270° - * @value 36 Roll 90°, Pitch 180°, Yaw 90° - * @value 37 Roll 90°, Yaw 270° - * @value 38 Roll 90°, Pitch 68°, Yaw 293° - * @value 39 Pitch 315° - * @value 40 Roll 90°, Pitch 315° - * - * @min -1 - * @max 40 - * @reboot_required true - * @category system - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_GYRO3_ROT, -1); - -/** - * Gyro X-axis offset - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_GYRO3_XOFF, 0.0f); - -/** - * Gyro Y-axis offset - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_GYRO3_YOFF, 0.0f); - -/** - * Gyro Z-axis offset - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_GYRO3_ZOFF, 0.0f); - -/** - * Gyroscope calibration temperature - * - * Temperature during last calibration. - * - * @unit celcius - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_GYRO3_TEMP, -1000.f); diff --git a/src/modules/sensors/sensor_params_mag0.c b/src/modules/sensors/sensor_params_mag0.c deleted file mode 100644 index 0d56250969..0000000000 --- a/src/modules/sensors/sensor_params_mag0.c +++ /dev/null @@ -1,249 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2012-2020 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. - * - ****************************************************************************/ - -/** - * ID of Magnetometer the calibration is for. - * - * @category system - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_MAG0_ID, 0); - -/** - * Mag 0 priority. - * - * @value -1 Uninitialized - * @value 0 Disabled - * @value 1 Min - * @value 25 Low - * @value 50 Medium (Default) - * @value 75 High - * @value 100 Max - * - * @category system - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_MAG0_PRIO, -1); - -/** - * Rotation of magnetometer 0 relative to airframe. - * - * An internal sensor will force a value of -1, so a GCS - * should only attempt to configure the rotation if the value is - * greater than or equal to zero. - * - * @value -1 Internal - * @value 0 No rotation - * @value 1 Yaw 45° - * @value 2 Yaw 90° - * @value 3 Yaw 135° - * @value 4 Yaw 180° - * @value 5 Yaw 225° - * @value 6 Yaw 270° - * @value 7 Yaw 315° - * @value 8 Roll 180° - * @value 9 Roll 180°, Yaw 45° - * @value 10 Roll 180°, Yaw 90° - * @value 11 Roll 180°, Yaw 135° - * @value 12 Pitch 180° - * @value 13 Roll 180°, Yaw 225° - * @value 14 Roll 180°, Yaw 270° - * @value 15 Roll 180°, Yaw 315° - * @value 16 Roll 90° - * @value 17 Roll 90°, Yaw 45° - * @value 18 Roll 90°, Yaw 90° - * @value 19 Roll 90°, Yaw 135° - * @value 20 Roll 270° - * @value 21 Roll 270°, Yaw 45° - * @value 22 Roll 270°, Yaw 90° - * @value 23 Roll 270°, Yaw 135° - * @value 24 Pitch 90° - * @value 25 Pitch 270° - * @value 26 Pitch 180°, Yaw 90° - * @value 27 Pitch 180°, Yaw 270° - * @value 28 Roll 90°, Pitch 90° - * @value 29 Roll 180°, Pitch 90° - * @value 30 Roll 270°, Pitch 90° - * @value 31 Roll 90°, Pitch 180° - * @value 32 Roll 270°, Pitch 180° - * @value 33 Roll 90°, Pitch 270° - * @value 34 Roll 180°, Pitch 270° - * @value 35 Roll 270°, Pitch 270° - * @value 36 Roll 90°, Pitch 180°, Yaw 90° - * @value 37 Roll 90°, Yaw 270° - * @value 38 Roll 90°, Pitch 68°, Yaw 293° - * @value 39 Pitch 315° - * @value 40 Roll 90°, Pitch 315° - * - * @min -1 - * @max 40 - * @reboot_required true - * @category system - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_MAG0_ROT, -1); - -/** - * Magnetometer X-axis offset - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_MAG0_XOFF, 0.0f); - -/** - * Magnetometer Y-axis offset - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_MAG0_YOFF, 0.0f); - -/** - * Magnetometer Z-axis offset - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_MAG0_ZOFF, 0.0f); - -/** - * Magnetometer X-axis scaling factor - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_MAG0_XSCALE, 1.0f); - -/** - * Magnetometer Y-axis scaling factor - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_MAG0_YSCALE, 1.0f); - -/** - * Magnetometer Z-axis scaling factor - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_MAG0_ZSCALE, 1.0f); - -/** - * Magnetometer X-axis off diagonal factor - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_MAG0_XODIAG, 0.0f); - -/** - * Magnetometer Y-axis off diagonal factor - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_MAG0_YODIAG, 0.0f); - -/** - * Magnetometer Z-axis off diagonal factor - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_MAG0_ZODIAG, 0.0f); - -/** -* X Axis throttle compensation for Mag 0 -* -* Coefficient describing linear relationship between -* X component of magnetometer in body frame axis -* and either current or throttle depending on value of CAL_MAG_COMP_TYP. -* Unit for throttle-based compensation is [G] and -* for current-based compensation [G/kA] -* -* @category system -* @group Sensor Calibration -*/ -PARAM_DEFINE_FLOAT(CAL_MAG0_XCOMP, 0.0f); - -/** -* Y Axis throttle compensation for Mag 0 -* -* Coefficient describing linear relationship between -* Y component of magnetometer in body frame axis -* and either current or throttle depending on value of CAL_MAG_COMP_TYP. -* Unit for throttle-based compensation is [G] and -* for current-based compensation [G/kA] -* -* @category system -* @group Sensor Calibration -*/ -PARAM_DEFINE_FLOAT(CAL_MAG0_YCOMP, 0.0f); - -/** -* Z Axis throttle compensation for Mag 0 -* -* Coefficient describing linear relationship between -* Z component of magnetometer in body frame axis -* and either current or throttle depending on value of CAL_MAG_COMP_TYP. -* Unit for throttle-based compensation is [G] and -* for current-based compensation [G/kA] -* -* @category system -* @group Sensor Calibration -*/ -PARAM_DEFINE_FLOAT(CAL_MAG0_ZCOMP, 0.0f); - -/** - * Magnetometer calibration temperature - * - * Temperature during last calibration. - * - * @unit celcius - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_MAG0_TEMP, -1000.f); diff --git a/src/modules/sensors/sensor_params_mag1.c b/src/modules/sensors/sensor_params_mag1.c deleted file mode 100644 index 0c952d4d9c..0000000000 --- a/src/modules/sensors/sensor_params_mag1.c +++ /dev/null @@ -1,249 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2012-2020 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. - * - ****************************************************************************/ - -/** - * ID of Magnetometer the calibration is for. - * - * @category system - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_MAG1_ID, 0); - -/** - * Mag 1 priority. - * - * @value -1 Uninitialized - * @value 0 Disabled - * @value 1 Min - * @value 25 Low - * @value 50 Medium (Default) - * @value 75 High - * @value 100 Max - * - * @category system - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_MAG1_PRIO, -1); - -/** - * Rotation of magnetometer 1 relative to airframe. - * - * An internal sensor will force a value of -1, so a GCS - * should only attempt to configure the rotation if the value is - * greater than or equal to zero. - * - * @value -1 Internal - * @value 0 No rotation - * @value 1 Yaw 45° - * @value 2 Yaw 90° - * @value 3 Yaw 135° - * @value 4 Yaw 180° - * @value 5 Yaw 225° - * @value 6 Yaw 270° - * @value 7 Yaw 315° - * @value 8 Roll 180° - * @value 9 Roll 180°, Yaw 45° - * @value 10 Roll 180°, Yaw 90° - * @value 11 Roll 180°, Yaw 135° - * @value 12 Pitch 180° - * @value 13 Roll 180°, Yaw 225° - * @value 14 Roll 180°, Yaw 270° - * @value 15 Roll 180°, Yaw 315° - * @value 16 Roll 90° - * @value 17 Roll 90°, Yaw 45° - * @value 18 Roll 90°, Yaw 90° - * @value 19 Roll 90°, Yaw 135° - * @value 20 Roll 270° - * @value 21 Roll 270°, Yaw 45° - * @value 22 Roll 270°, Yaw 90° - * @value 23 Roll 270°, Yaw 135° - * @value 24 Pitch 90° - * @value 25 Pitch 270° - * @value 26 Pitch 180°, Yaw 90° - * @value 27 Pitch 180°, Yaw 270° - * @value 28 Roll 90°, Pitch 90° - * @value 29 Roll 180°, Pitch 90° - * @value 30 Roll 270°, Pitch 90° - * @value 31 Roll 90°, Pitch 180° - * @value 32 Roll 270°, Pitch 180° - * @value 33 Roll 90°, Pitch 270° - * @value 34 Roll 180°, Pitch 270° - * @value 35 Roll 270°, Pitch 270° - * @value 36 Roll 90°, Pitch 180°, Yaw 90° - * @value 37 Roll 90°, Yaw 270° - * @value 38 Roll 90°, Pitch 68°, Yaw 293° - * @value 39 Pitch 315° - * @value 40 Roll 90°, Pitch 315° - * - * @min -1 - * @max 40 - * @reboot_required true - * @category system - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_MAG1_ROT, -1); - -/** - * Magnetometer X-axis offset - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_MAG1_XOFF, 0.0f); - -/** - * Magnetometer Y-axis offset - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_MAG1_YOFF, 0.0f); - -/** - * Magnetometer Z-axis offset - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_MAG1_ZOFF, 0.0f); - -/** - * Magnetometer X-axis scaling factor - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_MAG1_XSCALE, 1.0f); - -/** - * Magnetometer Y-axis scaling factor - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_MAG1_YSCALE, 1.0f); - -/** - * Magnetometer Z-axis scaling factor - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_MAG1_ZSCALE, 1.0f); - -/** - * Magnetometer X-axis off diagonal factor - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_MAG1_XODIAG, 0.0f); - -/** - * Magnetometer Y-axis off diagonal factor - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_MAG1_YODIAG, 0.0f); - -/** - * Magnetometer Z-axis off diagonal factor - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_MAG1_ZODIAG, 0.0f); - -/** -* X Axis throttle compensation for Mag 1 -* -* Coefficient describing linear relationship between -* X component of magnetometer in body frame axis -* and either current or throttle depending on value of CAL_MAG_COMP_TYP. -* Unit for throttle-based compensation is [G] and -* for current-based compensation [G/kA] -* -* @category system -* @group Sensor Calibration -*/ -PARAM_DEFINE_FLOAT(CAL_MAG1_XCOMP, 0.0f); - -/** -* Y Axis throttle compensation for Mag 1 -* -* Coefficient describing linear relationship between -* Y component of magnetometer in body frame axis -* and either current or throttle depending on value of CAL_MAG_COMP_TYP. -* Unit for throttle-based compensation is [G] and -* for current-based compensation [G/kA] -* -* @category system -* @group Sensor Calibration -*/ -PARAM_DEFINE_FLOAT(CAL_MAG1_YCOMP, 0.0f); - -/** -* Z Axis throttle compensation for Mag 1 -* -* Coefficient describing linear relationship between -* Z component of magnetometer in body frame axis -* and either current or throttle depending on value of CAL_MAG_COMP_TYP. -* Unit for throttle-based compensation is [G] and -* for current-based compensation [G/kA] -* -* @category system -* @group Sensor Calibration -*/ -PARAM_DEFINE_FLOAT(CAL_MAG1_ZCOMP, 0.0f); - -/** - * Magnetometer calibration temperature - * - * Temperature during last calibration. - * - * @unit celcius - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_MAG1_TEMP, -1000.f); diff --git a/src/modules/sensors/sensor_params_mag2.c b/src/modules/sensors/sensor_params_mag2.c deleted file mode 100644 index 9dd828571c..0000000000 --- a/src/modules/sensors/sensor_params_mag2.c +++ /dev/null @@ -1,249 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2012-2020 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. - * - ****************************************************************************/ - -/** - * ID of Magnetometer the calibration is for. - * - * @category system - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_MAG2_ID, 0); - -/** - * Mag 2 priority. - * - * @value -1 Uninitialized - * @value 0 Disabled - * @value 1 Min - * @value 25 Low - * @value 50 Medium (Default) - * @value 75 High - * @value 100 Max - * - * @category system - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_MAG2_PRIO, -1); - -/** - * Rotation of magnetometer 2 relative to airframe. - * - * An internal sensor will force a value of -1, so a GCS - * should only attempt to configure the rotation if the value is - * greater than or equal to zero. - * - * @value -1 Internal - * @value 0 No rotation - * @value 1 Yaw 45° - * @value 2 Yaw 90° - * @value 3 Yaw 135° - * @value 4 Yaw 180° - * @value 5 Yaw 225° - * @value 6 Yaw 270° - * @value 7 Yaw 315° - * @value 8 Roll 180° - * @value 9 Roll 180°, Yaw 45° - * @value 10 Roll 180°, Yaw 90° - * @value 11 Roll 180°, Yaw 135° - * @value 12 Pitch 180° - * @value 13 Roll 180°, Yaw 225° - * @value 14 Roll 180°, Yaw 270° - * @value 15 Roll 180°, Yaw 315° - * @value 16 Roll 90° - * @value 17 Roll 90°, Yaw 45° - * @value 18 Roll 90°, Yaw 90° - * @value 19 Roll 90°, Yaw 135° - * @value 20 Roll 270° - * @value 21 Roll 270°, Yaw 45° - * @value 22 Roll 270°, Yaw 90° - * @value 23 Roll 270°, Yaw 135° - * @value 24 Pitch 90° - * @value 25 Pitch 270° - * @value 26 Pitch 180°, Yaw 90° - * @value 27 Pitch 180°, Yaw 270° - * @value 28 Roll 90°, Pitch 90° - * @value 29 Roll 180°, Pitch 90° - * @value 30 Roll 270°, Pitch 90° - * @value 31 Roll 90°, Pitch 180° - * @value 32 Roll 270°, Pitch 180° - * @value 33 Roll 90°, Pitch 270° - * @value 34 Roll 180°, Pitch 270° - * @value 35 Roll 270°, Pitch 270° - * @value 36 Roll 90°, Pitch 180°, Yaw 90° - * @value 37 Roll 90°, Yaw 270° - * @value 38 Roll 90°, Pitch 68°, Yaw 293° - * @value 39 Pitch 315° - * @value 40 Roll 90°, Pitch 315° - * - * @min -1 - * @max 40 - * @reboot_required true - * @category system - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_MAG2_ROT, -1); - -/** - * Magnetometer X-axis offset - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_MAG2_XOFF, 0.0f); - -/** - * Magnetometer Y-axis offset - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_MAG2_YOFF, 0.0f); - -/** - * Magnetometer Z-axis offset - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_MAG2_ZOFF, 0.0f); - -/** - * Magnetometer X-axis scaling factor - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_MAG2_XSCALE, 1.0f); - -/** - * Magnetometer Y-axis scaling factor - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_MAG2_YSCALE, 1.0f); - -/** - * Magnetometer Z-axis scaling factor - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_MAG2_ZSCALE, 1.0f); - -/** - * Magnetometer X-axis off diagonal factor - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_MAG2_XODIAG, 0.0f); - -/** - * Magnetometer Y-axis off diagonal factor - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_MAG2_YODIAG, 0.0f); - -/** - * Magnetometer Z-axis off diagonal factor - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_MAG2_ZODIAG, 0.0f); - -/** -* X Axis throttle compensation for Mag 2 -* -* Coefficient describing linear relationship between -* X component of magnetometer in body frame axis -* and either current or throttle depending on value of CAL_MAG_COMP_TYP. -* Unit for throttle-based compensation is [G] and -* for current-based compensation [G/kA] -* -* @category system -* @group Sensor Calibration -*/ -PARAM_DEFINE_FLOAT(CAL_MAG2_XCOMP, 0.0f); - -/** -* Y Axis throttle compensation for Mag 2 -* -* Coefficient describing linear relationship between -* Y component of magnetometer in body frame axis -* and either current or throttle depending on value of CAL_MAG_COMP_TYP. -* Unit for throttle-based compensation is [G] and -* for current-based compensation [G/kA] -* -* @category system -* @group Sensor Calibration -*/ -PARAM_DEFINE_FLOAT(CAL_MAG2_YCOMP, 0.0f); - -/** -* Z Axis throttle compensation for Mag 2 -* -* Coefficient describing linear relationship between -* Z component of magnetometer in body frame axis -* and either current or throttle depending on value of CAL_MAG_COMP_TYP. -* Unit for throttle-based compensation is [G] and -* for current-based compensation [G/kA] -* -* @category system -* @group Sensor Calibration -*/ -PARAM_DEFINE_FLOAT(CAL_MAG2_ZCOMP, 0.0f); - -/** - * Magnetometer calibration temperature - * - * Temperature during last calibration. - * - * @unit celcius - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_MAG2_TEMP, -1000.f); diff --git a/src/modules/sensors/sensor_params_mag3.c b/src/modules/sensors/sensor_params_mag3.c deleted file mode 100644 index 129775c560..0000000000 --- a/src/modules/sensors/sensor_params_mag3.c +++ /dev/null @@ -1,249 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2012-2020 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. - * - ****************************************************************************/ - -/** - * ID of Magnetometer the calibration is for. - * - * @category system - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_MAG3_ID, 0); - -/** - * Mag 3 priority. - * - * @value -1 Uninitialized - * @value 0 Disabled - * @value 1 Min - * @value 25 Low - * @value 50 Medium (Default) - * @value 75 High - * @value 100 Max - * - * @category system - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_MAG3_PRIO, -1); - -/** - * Rotation of magnetometer 3 relative to airframe. - * - * An internal sensor will force a value of -1, so a GCS - * should only attempt to configure the rotation if the value is - * greater than or equal to zero. - * - * @value -1 Internal - * @value 0 No rotation - * @value 1 Yaw 45° - * @value 2 Yaw 90° - * @value 3 Yaw 135° - * @value 4 Yaw 180° - * @value 5 Yaw 225° - * @value 6 Yaw 270° - * @value 7 Yaw 315° - * @value 8 Roll 180° - * @value 9 Roll 180°, Yaw 45° - * @value 10 Roll 180°, Yaw 90° - * @value 11 Roll 180°, Yaw 135° - * @value 12 Pitch 180° - * @value 13 Roll 180°, Yaw 225° - * @value 14 Roll 180°, Yaw 270° - * @value 15 Roll 180°, Yaw 315° - * @value 16 Roll 90° - * @value 17 Roll 90°, Yaw 45° - * @value 18 Roll 90°, Yaw 90° - * @value 19 Roll 90°, Yaw 135° - * @value 20 Roll 270° - * @value 21 Roll 270°, Yaw 45° - * @value 22 Roll 270°, Yaw 90° - * @value 23 Roll 270°, Yaw 135° - * @value 24 Pitch 90° - * @value 25 Pitch 270° - * @value 26 Pitch 180°, Yaw 90° - * @value 27 Pitch 180°, Yaw 270° - * @value 28 Roll 90°, Pitch 90° - * @value 29 Roll 180°, Pitch 90° - * @value 30 Roll 270°, Pitch 90° - * @value 31 Roll 90°, Pitch 180° - * @value 32 Roll 270°, Pitch 180° - * @value 33 Roll 90°, Pitch 270° - * @value 34 Roll 180°, Pitch 270° - * @value 35 Roll 270°, Pitch 270° - * @value 36 Roll 90°, Pitch 180°, Yaw 90° - * @value 37 Roll 90°, Yaw 270° - * @value 38 Roll 90°, Pitch 68°, Yaw 293° - * @value 39 Pitch 315° - * @value 40 Roll 90°, Pitch 315° - * - * @min -1 - * @max 40 - * @reboot_required true - * @category system - * @group Sensor Calibration - */ -PARAM_DEFINE_INT32(CAL_MAG3_ROT, -1); - -/** - * Magnetometer X-axis offset - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_MAG3_XOFF, 0.0f); - -/** - * Magnetometer Y-axis offset - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_MAG3_YOFF, 0.0f); - -/** - * Magnetometer Z-axis offset - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_MAG3_ZOFF, 0.0f); - -/** - * Magnetometer X-axis scaling factor - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_MAG3_XSCALE, 1.0f); - -/** - * Magnetometer Y-axis scaling factor - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_MAG3_YSCALE, 1.0f); - -/** - * Magnetometer Z-axis scaling factor - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_MAG3_ZSCALE, 1.0f); - -/** - * Magnetometer X-axis off diagonal factor - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_MAG3_XODIAG, 0.0f); - -/** - * Magnetometer Y-axis off diagonal factor - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_MAG3_YODIAG, 0.0f); - -/** - * Magnetometer Z-axis off diagonal factor - * - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_MAG3_ZODIAG, 0.0f); - -/** -* X Axis throttle compensation for Mag 3 -* -* Coefficient describing linear relationship between -* X component of magnetometer in body frame axis -* and either current or throttle depending on value of CAL_MAG_COMP_TYP. -* Unit for throttle-based compensation is [G] and -* for current-based compensation [G/kA] -* -* @category system -* @group Sensor Calibration -*/ -PARAM_DEFINE_FLOAT(CAL_MAG3_XCOMP, 0.0f); - -/** -* Y Axis throttle compensation for Mag 3 -* -* Coefficient describing linear relationship between -* Y component of magnetometer in body frame axis -* and either current or throttle depending on value of CAL_MAG_COMP_TYP. -* Unit for throttle-based compensation is [G] and -* for current-based compensation [G/kA] -* -* @category system -* @group Sensor Calibration -*/ -PARAM_DEFINE_FLOAT(CAL_MAG3_YCOMP, 0.0f); - -/** -* Z Axis throttle compensation for Mag 3 -* -* Coefficient describing linear relationship between -* Z component of magnetometer in body frame axis -* and either current or throttle depending on value of CAL_MAG_COMP_TYP. -* Unit for throttle-based compensation is [G] and -* for current-based compensation [G/kA] -* -* @category system -* @group Sensor Calibration -*/ -PARAM_DEFINE_FLOAT(CAL_MAG3_ZCOMP, 0.0f); - -/** - * Magnetometer calibration temperature - * - * Temperature during last calibration. - * - * @unit celcius - * @category system - * @group Sensor Calibration - * @volatile - */ -PARAM_DEFINE_FLOAT(CAL_MAG3_TEMP, -1000.f);