accel and gyro calibration refactor and cleanup

- remove all remaining IOCTLs for accel and gyro and handle all calibration entirely in sensors module with parameters
 - sensor_accel and sensor_gyro are now always raw sensor data
 - calibration procedures no longer need to first clear existing values before starting
 - temperature calibration (TC) remove all scale (SCL) parameters
    - gyro and baro scale are completely unused
    - regular accel calibration scale can be used (CAL_ACC*_xSCALE) instead of TC scale

.ci/Jenkinsfile-hardware

@@ -759,6 +759,8 @@ void statusFTDI() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "adc test"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander check"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander calibrate gyro; sleep 2; param show CAL_GYRO*"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander calibrate level; sleep 2; param show SENS_BOARD*"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dataman status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "df"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dmesg"'
@@ -820,6 +822,8 @@ void statusSEGGER() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "adc test"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander check"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander calibrate gyro; sleep 2; param show CAL_GYRO*"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander calibrate level; sleep 2; param show SENS_BOARD*"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "dataman status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "df -h"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "dmesg"'

Tools/process_sensor_caldata.py

@@ -122,10 +122,7 @@ gyro_0_params = {
 'TC_G0_X0_2':0.0,
 'TC_G0_X1_2':0.0,
 'TC_G0_X2_2':0.0,
-'TC_G0_X3_2':0.0,
+'TC_G0_X3_2':0.0
-'TC_G0_SCL_0':1.0,
-'TC_G0_SCL_1':1.0,
-'TC_G0_SCL_2':1.0
 }
 
 # curve fit the data for gyro 0 corrections
@@ -174,7 +171,7 @@ if num_gyros >= 1:
     plt.subplot(3,1,1)
     plt.plot(sensor_gyro_0['temperature'],sensor_gyro_0['x'],'b')
     plt.plot(temp_resample,gyro_0_x_resample,'r')
-    plt.title('Gyro 0 Bias vs Temperature')
+    plt.title('Gyro 0 ({}) Bias vs Temperature'.format(gyro_0_params['TC_G0_ID']))
     plt.ylabel('X bias (rad/s)')
     plt.xlabel('temperature (degC)')
     plt.grid()
@@ -218,10 +215,7 @@ gyro_1_params = {
 'TC_G1_X0_2':0.0,
 'TC_G1_X1_2':0.0,
 'TC_G1_X2_2':0.0,
-'TC_G1_X3_2':0.0,
+'TC_G1_X3_2':0.0
-'TC_G1_SCL_0':1.0,
-'TC_G1_SCL_1':1.0,
-'TC_G1_SCL_2':1.0
 }
 
 # curve fit the data for gyro 1 corrections
@@ -270,7 +264,7 @@ if num_gyros >= 2:
     plt.subplot(3,1,1)
     plt.plot(sensor_gyro_1['temperature'],sensor_gyro_1['x'],'b')
     plt.plot(temp_resample,gyro_1_x_resample,'r')
-    plt.title('Gyro 1 Bias vs Temperature')
+    plt.title('Gyro 1 ({}) Bias vs Temperature'.format(gyro_1_params['TC_G1_ID']))
     plt.ylabel('X bias (rad/s)')
     plt.xlabel('temperature (degC)')
     plt.grid()
@@ -314,10 +308,7 @@ gyro_2_params = {
 'TC_G2_X0_2':0.0,
 'TC_G2_X1_2':0.0,
 'TC_G2_X2_2':0.0,
-'TC_G2_X3_2':0.0,
+'TC_G2_X3_2':0.0
-'TC_G2_SCL_0':1.0,
-'TC_G2_SCL_1':1.0,
-'TC_G2_SCL_2':1.0
 }
 
 # curve fit the data for gyro 2 corrections
@@ -366,7 +357,7 @@ if num_gyros >= 3:
     plt.subplot(3,1,1)
     plt.plot(sensor_gyro_2['temperature'],sensor_gyro_2['x'],'b')
     plt.plot(temp_resample,gyro_2_x_resample,'r')
-    plt.title('Gyro 2 Bias vs Temperature')
+    plt.title('Gyro 2 ({}) Bias vs Temperature'.format(gyro_2_params['TC_G2_ID']))
     plt.ylabel('X bias (rad/s)')
     plt.xlabel('temperature (degC)')
     plt.grid()
@@ -410,10 +401,7 @@ accel_0_params = {
 'TC_A0_X0_2':0.0,
 'TC_A0_X1_2':0.0,
 'TC_A0_X2_2':0.0,
-'TC_A0_X3_2':0.0,
+'TC_A0_X3_2':0.0
-'TC_A0_SCL_0':1.0,
-'TC_A0_SCL_1':1.0,
-'TC_A0_SCL_2':1.0
 }
 
 # curve fit the data for accel 0 corrections
@@ -465,7 +453,7 @@ if num_accels >= 1:
     plt.subplot(3,1,1)
     plt.plot(sensor_accel_0['temperature'],correction_x,'b')
     plt.plot(temp_resample,correction_x_resample,'r')
-    plt.title('Accel 0 Bias vs Temperature')
+    plt.title('Accel 0 ({}) Bias vs Temperature'.format(accel_0_params['TC_A0_ID']))
     plt.ylabel('X bias (m/s/s)')
     plt.xlabel('temperature (degC)')
     plt.grid()
@@ -509,10 +497,7 @@ accel_1_params = {
 'TC_A1_X0_2':0.0,
 'TC_A1_X1_2':0.0,
 'TC_A1_X2_2':0.0,
-'TC_A1_X3_2':0.0,
+'TC_A1_X3_2':0.0
-'TC_A1_SCL_0':1.0,
-'TC_A1_SCL_1':1.0,
-'TC_A1_SCL_2':1.0
 }
 
 # curve fit the data for accel 1 corrections
@@ -564,7 +549,7 @@ if num_accels >= 2:
     plt.subplot(3,1,1)
     plt.plot(sensor_accel_1['temperature'],correction_x,'b')
     plt.plot(temp_resample,correction_x_resample,'r')
-    plt.title('Accel 1 Bias vs Temperature')
+    plt.title('Accel 1 ({}) Bias vs Temperature'.format(accel_1_params['TC_A1_ID']))
     plt.ylabel('X bias (m/s/s)')
     plt.xlabel('temperature (degC)')
     plt.grid()
@@ -608,10 +593,7 @@ accel_2_params = {
 'TC_A2_X0_2':0.0,
 'TC_A2_X1_2':0.0,
 'TC_A2_X2_2':0.0,
-'TC_A2_X3_2':0.0,
+'TC_A2_X3_2':0.0
-'TC_A2_SCL_0':1.0,
-'TC_A2_SCL_1':1.0,
-'TC_A2_SCL_2':1.0
 }
 
 # curve fit the data for accel 2 corrections
@@ -663,7 +645,7 @@ if num_accels >= 3:
     plt.subplot(3,1,1)
     plt.plot(sensor_accel_2['temperature'],correction_x,'b')
     plt.plot(temp_resample,correction_x_resample,'r')
-    plt.title('Accel 2 Bias vs Temperature')
+    plt.title('Accel 2 ({}) Bias vs Temperature'.format(accel_2_params['TC_A2_ID']))
     plt.ylabel('X bias (m/s/s)')
     plt.xlabel('temperature (degC)')
     plt.grid()
@@ -701,8 +683,7 @@ baro_0_params = {
 'TC_B0_X2':0.0,
 'TC_B0_X3':0.0,
 'TC_B0_X4':0.0,
-'TC_B0_X5':0.0,
+'TC_B0_X5':0.0
-'TC_B0_SCL':1.0,
 }
 
 # curve fit the data for baro 0 corrections
@@ -734,7 +715,7 @@ plt.figure(7,figsize=(20,13))
 # draw plots
 plt.plot(sensor_baro_0['temperature'],100*sensor_baro_0['pressure']-100*median_pressure,'b')
 plt.plot(temp_resample,baro_0_x_resample,'r')
-plt.title('Baro 0 Bias vs Temperature')
+plt.title('Baro 0 ({}) Bias vs Temperature'.format(baro_0_params['TC_B0_ID']))
 plt.ylabel('Z bias (Pa)')
 plt.xlabel('temperature (degC)')
 plt.grid()
@@ -753,7 +734,6 @@ baro_1_params = {
 'TC_B1_X3':0.0,
 'TC_B1_X4':0.0,
 'TC_B1_X5':0.0,
-'TC_B1_SCL':1.0,
 }
 
 if num_baros >= 2:
@@ -787,7 +767,7 @@ if num_baros >= 2:
     # draw plots
     plt.plot(sensor_baro_1['temperature'],100*sensor_baro_1['pressure']-100*median_pressure,'b')
     plt.plot(temp_resample,baro_1_x_resample,'r')
-    plt.title('Baro 1 Bias vs Temperature')
+    plt.title('Baro 1 ({}) Bias vs Temperature'.format(baro_1_params['TC_B1_ID']))
     plt.ylabel('Z bias (Pa)')
     plt.xlabel('temperature (degC)')
     plt.grid()
@@ -840,7 +820,7 @@ if num_baros >= 3:
     # draw plots
     plt.plot(sensor_baro_2['temperature'],100*sensor_baro_2['pressure']-100*median_pressure,'b')
     plt.plot(temp_resample,baro_2_x_resample,'r')
-    plt.title('Baro 2 Bias vs Temperature')
+    plt.title('Baro 2 ({}) Bias vs Temperature'.format(baro_2_params['TC_B2_ID']))
     plt.ylabel('Z bias (Pa)')
     plt.xlabel('temperature (degC)')
     plt.grid()

msg/sensor_accel_fifo.msg

@@ -11,3 +11,5 @@ uint8 samples             # number of valid samples
 int16[32] x               # acceleration in the NED X board axis in m/s/s
 int16[32] y               # acceleration in the NED Y board axis in m/s/s
 int16[32] z               # acceleration in the NED Z board axis in m/s/s
+
+uint8 rotation            # Direction the sensor faces (see Rotation enum)

msg/sensor_correction.msg

@@ -6,52 +6,21 @@ uint64 timestamp		# time since system start (microseconds)
 
 # Corrections for gyro angular rate outputs where corrected_rate = raw_rate * gyro_scale + gyro_offset
 # Note the corrections are in the sensor frame and must be applied before the sensor data is rotated into body frame
-# corrections for uORB instance 0
+uint32[3] gyro_device_ids
-float32[3] gyro_offset_0	# gyro XYZ offsets in the sensor frame in rad/s
+float32[3] gyro_offset_0	# gyro 0 XYZ offsets in the sensor frame in rad/s
-float32[3] gyro_scale_0		# gyro XYZ scale factors in the sensor frame
+float32[3] gyro_offset_1	# gyro 1 XYZ offsets in the sensor frame in rad/s
-
+float32[3] gyro_offset_2	# gyro 2 XYZ offsets in the sensor frame in rad/s
-# corrections for uORB instance 1
-float32[3] gyro_offset_1	# gyro XYZ offsets in the sensor frame in rad/s
-float32[3] gyro_scale_1		# gyro XYZ scale factors in the sensor frame
-
-# corrections for uORB instance 2
-float32[3] gyro_offset_2	# gyro XYZ offsets in the sensor frame in rad/s
-float32[3] gyro_scale_2		# gyro XYZ scale factors in the sensor frame
 
 # Corrections for acceleromter acceleration outputs where corrected_accel = raw_accel * accel_scale + accel_offset
 # Note the corrections are in the sensor frame and must be applied before the sensor data is rotated into body frame
-# corrections for uORB instance 0
+uint32[3] accel_device_ids
-float32[3] accel_offset_0	# accelerometer XYZ offsets in the sensor frame in m/s/s
+float32[3] accel_offset_0	# accelerometer 0 XYZ offsets in the sensor frame in m/s/s
-float32[3] accel_scale_0	# accelerometer XYZ scale factors in the sensor frame
+float32[3] accel_offset_1	# accelerometer 1 XYZ offsets in the sensor frame in m/s/s
-
+float32[3] accel_offset_2	# accelerometer 2 XYZ offsets in the sensor frame in m/s/s
-# corrections for uORB instance 1
-float32[3] accel_offset_1	# accelerometer XYZ offsets in the sensor frame in m/s/s
-float32[3] accel_scale_1	# accelerometer XYZ scale factors in the sensor frame
-
-# corrections for uORB instance 2
-float32[3] accel_offset_2	# accelerometer XYZ offsets in the sensor frame in m/s/s
-float32[3] accel_scale_2	# accelerometer XYZ scale factors in the sensor frame
 
 # Corrections for barometric pressure outputs where corrected_pressure = raw_pressure * pressure_scale + pressure_offset
 # Note the corrections are in the sensor frame and must be applied before the sensor data is rotated into body frame
-# corrections for uORB instance 0
-float32 baro_offset_0		# barometric pressure offsets in the sensor frame in m/s/s
-float32 baro_scale_0		# barometric pressure scale factors in the sensor frame
-
-# corrections for uORB instance 1
-float32 baro_offset_1		# barometric pressure offsets in the sensor frame in m/s/s
-float32 baro_scale_1		# barometric pressure scale factors in the sensor frame
-
-# corrections for uORB instance 2
-float32 baro_offset_2		# barometric pressure offsets in the sensor frame in m/s/s
-float32 baro_scale_2		# barometric pressure scale factors in the sensor frame
-
-# Mapping from uORB index to parameter index for each sensor type. For example accel_mapping[1] contains the
-# compensation parameter system index for the sensor_accel uORB index 1 data.
-uint8[3] gyro_mapping
-uint8[3] accel_mapping
-uint8[3] baro_mapping
-
-uint32[3] gyro_device_ids
-uint32[3] accel_device_ids
 uint32[3] baro_device_ids
+float32 baro_offset_0		# barometric pressure 0 offsets in the sensor frame in m/s/s
+float32 baro_offset_1		# barometric pressure 1 offsets in the sensor frame in m/s/s
+float32 baro_offset_2		# barometric pressure 2 offsets in the sensor frame in m/s/s

msg/sensor_gyro_fifo.msg

@@ -11,3 +11,5 @@ uint8 samples             # number of valid samples
 int16[32] x               # angular velocity in the NED X board axis in rad/s
 int16[32] y               # angular velocity in the NED Y board axis in rad/s
 int16[32] z               # angular velocity in the NED Z board axis in rad/s
+
+uint8 rotation            # Direction the sensor faces (see Rotation enum)

src/drivers/barometer/bmp280/BMP280.cpp

@@ -191,6 +191,4 @@ BMP280::print_status()
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_measure_perf);
 	perf_print_counter(_comms_errors);
-
-	_px4_baro.print_status();
 }

src/drivers/barometer/bmp388/bmp388.cpp

@@ -105,8 +105,6 @@ BMP388::print_status()
 	perf_print_counter(_measure_perf);
 	perf_print_counter(_comms_errors);
 	printf("measurement interval:  %u us \n", _measure_interval);
-
-	_px4_baro.print_status();
 }
 
 void

src/drivers/barometer/dps310/DPS310.cpp

@@ -284,8 +284,6 @@ DPS310::print_status()
 	I2CSPIDriverBase::print_status();
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_comms_errors);
-
-	_px4_barometer.print_status();
 }
 
 } // namespace dps310

src/drivers/barometer/lps22hb/LPS22HB.cpp

@@ -184,5 +184,4 @@ void LPS22HB::print_status()
 	I2CSPIDriverBase::print_status();
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_comms_errors);
-	_px4_baro.print_status();
 }

src/drivers/barometer/lps25h/LPS25H.cpp

@@ -199,6 +199,4 @@ void LPS25H::print_status()
 	I2CSPIDriverBase::print_status();
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_comms_errors);
-
-	_px4_barometer.print_status();
 }

src/drivers/barometer/mpl3115a2/MPL3115A2.cpp

@@ -284,6 +284,4 @@ void MPL3115A2::print_status()
 	I2CSPIDriverBase::print_status();
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_comms_errors);
-
-	_px4_barometer.print_status();
 }

src/drivers/barometer/ms5611/ms5611.cpp

@@ -340,8 +340,6 @@ void MS5611::print_status()
 	perf_print_counter(_comms_errors);
 
 	printf("device:         %s\n", _device_type == MS5611_DEVICE ? "ms5611" : "ms5607");
-
-	_px4_barometer.print_status();
 }
 
 namespace ms5611

src/drivers/distance_sensor/cm8jl65/CM8JL65.cpp

@@ -327,8 +327,6 @@ CM8JL65::print_info()
 {
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_comms_errors);
-
-	_px4_rangefinder.print_status();
 }
 
 void

src/drivers/distance_sensor/leddar_one/LeddarOne.cpp

@@ -267,8 +267,6 @@ LeddarOne::print_info()
 {
 	perf_print_counter(_comms_error);
 	perf_print_counter(_sample_perf);
-
-	_px4_rangefinder.print_status();
 }
 
 void

src/drivers/distance_sensor/sf0x/SF0X.cpp

@@ -297,6 +297,4 @@ void SF0X::print_info()
 {
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_comms_errors);
-
-	_px4_rangefinder.print_status();
 }

src/drivers/distance_sensor/sf1xx/sf1xx.cpp

@@ -278,7 +278,6 @@ void SF1XX::print_status()
 	I2CSPIDriverBase::print_status();
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_comms_errors);
-	_px4_rangefinder.print_status();
 }
 
 void SF1XX::print_usage()

src/drivers/distance_sensor/srf02/SRF02.cpp

@@ -147,6 +147,4 @@ void SRF02::print_status()
 	I2CSPIDriverBase::print_status();
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_comms_errors);
-
-	_px4_rangefinder.print_status();
 }

src/drivers/distance_sensor/teraranger/TERARANGER.cpp

@@ -268,6 +268,4 @@ void TERARANGER::print_status()
 	I2CSPIDriverBase::print_status();
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_comms_errors);
-
-	_px4_rangefinder.print_status();
 }

src/drivers/distance_sensor/tfmini/TFMINI.cpp

@@ -264,6 +264,4 @@ TFMINI::print_info()
 	printf("Using port '%s'\n", _port);
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_comms_errors);
-
-	_px4_rangefinder.print_status();
 }

src/drivers/distance_sensor/ulanding_radar/AerotennaULanding.cpp

@@ -221,6 +221,4 @@ void AerotennaULanding::print_info()
 {
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_comms_errors);
-
-	_px4_rangefinder.print_status();
 }

src/drivers/distance_sensor/vl53l0x/VL53L0X.cpp

@@ -177,7 +177,6 @@ void VL53L0X::print_status()
 	I2CSPIDriverBase::print_status();
 	perf_print_counter(_comms_errors);
 	perf_print_counter(_sample_perf);
-	_px4_rangefinder.print_status();
 }
 
 int VL53L0X::probe()

src/drivers/drv_accel.h

@@ -1,75 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2012-2016 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.
- *
- ****************************************************************************/
-
-/**
- * @file drv_accel.h
- *
- * Accelerometer driver interface.
- */
-
-#ifndef _DRV_ACCEL_H
-#define _DRV_ACCEL_H
-
-#include <stdint.h>
-#include <sys/ioctl.h>
-
-#include "drv_sensor.h"
-#include "drv_orb_dev.h"
-
-#define ACCEL_BASE_DEVICE_PATH	"/dev/accel"
-
-#include <uORB/topics/sensor_accel.h>
-
-/** accel scaling factors; Vout = Vscale * (Vin + Voffset) */
-struct accel_calibration_s {
-	float	x_offset;
-	float	x_scale;
-	float	y_offset;
-	float	y_scale;
-	float	z_offset;
-	float	z_scale;
-};
-/*
- * ioctl() definitions
- *
- * Accelerometer drivers also implement the generic sensor driver
- * interfaces from drv_sensor.h
- */
-
-#define _ACCELIOCBASE		(0x2100)
-#define _ACCELIOC(_n)		(_PX4_IOC(_ACCELIOCBASE, _n))
-
-/** set the accel scaling constants to the structure pointed to by (arg) */
-#define ACCELIOCSSCALE		_ACCELIOC(5)
-
-#endif /* _DRV_ACCEL_H */

src/drivers/drv_gyro.h

@@ -1,70 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2012-2016 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.
- *
- ****************************************************************************/
-
-/**
- * @file drv_gyro.h
- *
- * Gyroscope driver interface.
- */
-
-#ifndef _DRV_GYRO_H
-#define _DRV_GYRO_H
-
-#include <stdint.h>
-#include <sys/ioctl.h>
-
-#include "drv_sensor.h"
-#include "drv_orb_dev.h"
-
-#define GYRO_BASE_DEVICE_PATH	"/dev/gyro"
-
-#include <uORB/topics/sensor_gyro.h>
-
-/** gyro scaling factors; Vout = Vin + Voffset */
-struct gyro_calibration_s {
-	float	x_offset;
-	float	y_offset;
-	float	z_offset;
-};
-
-/*
- * ioctl() definitions
- */
-
-#define _GYROIOCBASE		(0x2300)
-#define _GYROIOC(_n)		(_PX4_IOC(_GYROIOCBASE, _n))
-
-/** set the gyro scaling constants to (arg) */
-#define GYROIOCSSCALE		_GYROIOC(4)
-
-#endif /* _DRV_GYRO_H */

src/drivers/drv_mixer.h

@@ -85,4 +85,4 @@
  * - save/serialise for saving tuned mixers.
  */
 
-#endif /* _DRV_ACCEL_H */
+#endif /* _DRV_MIXER_H */

src/drivers/imu/adis16448/ADIS16448.cpp

@@ -308,9 +308,6 @@ ADIS16448::print_status()
 	perf_print_counter(_perf_bad_transfer);
 	perf_print_counter(_perf_crc_bad);
 
-	_px4_accel.print_status();
-	_px4_baro.print_status();
-	_px4_gyro.print_status();
 	_px4_mag.print_status();
 }
 

src/drivers/imu/adis16477/ADIS16477.cpp

@@ -385,6 +385,4 @@ ADIS16477::print_status()
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_bad_transfers);
 
-	_px4_accel.print_status();
-	_px4_gyro.print_status();
 }

src/drivers/imu/adis16497/ADIS16497.cpp

@@ -505,6 +505,4 @@ ADIS16497::print_status()
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_bad_transfers);
 
-	_px4_accel.print_status();
-	_px4_gyro.print_status();
 }

src/drivers/imu/bma180/bma180.cpp

@@ -431,7 +431,6 @@ void BMA180::print_status()
 {
 	I2CSPIDriverBase::print_status();
 	perf_print_counter(_sample_perf);
-	_px4_accel.print_status();
 }
 
 void BMA180::print_usage()

src/drivers/imu/bmi160/bmi160.cpp

@@ -599,6 +599,4 @@ void BMI160::print_status()
 	perf_print_counter(_good_transfers);
 	perf_print_counter(_reset_retries);
 	perf_print_counter(_duplicates);
-	_px4_accel.print_status();
-	_px4_gyro.print_status();
 }

src/drivers/imu/bosch/bmi055/BMI055_Accelerometer.cpp

@@ -82,8 +82,6 @@ void BMI055_Accelerometer::print_status()
 	perf_print_counter(_fifo_overflow_perf);
 	perf_print_counter(_fifo_reset_perf);
 	perf_print_counter(_drdy_interval_perf);
-
-	_px4_accel.print_status();
 }
 
 int BMI055_Accelerometer::probe()

src/drivers/imu/bosch/bmi055/BMI055_Gyroscope.cpp

@@ -82,8 +82,6 @@ void BMI055_Gyroscope::print_status()
 	perf_print_counter(_fifo_overflow_perf);
 	perf_print_counter(_fifo_reset_perf);
 	perf_print_counter(_drdy_interval_perf);
-
-	_px4_gyro.print_status();
 }
 
 int BMI055_Gyroscope::probe()

src/drivers/imu/bosch/bmi088/BMI088_Accelerometer.cpp

@@ -82,8 +82,6 @@ void BMI088_Accelerometer::print_status()
 	perf_print_counter(_fifo_overflow_perf);
 	perf_print_counter(_fifo_reset_perf);
 	perf_print_counter(_drdy_interval_perf);
-
-	_px4_accel.print_status();
 }
 
 int BMI088_Accelerometer::probe()

src/drivers/imu/bosch/bmi088/BMI088_Gyroscope.cpp

@@ -82,8 +82,6 @@ void BMI088_Gyroscope::print_status()
 	perf_print_counter(_fifo_overflow_perf);
 	perf_print_counter(_fifo_reset_perf);
 	perf_print_counter(_drdy_interval_perf);
-
-	_px4_gyro.print_status();
 }
 
 int BMI088_Gyroscope::probe()

src/drivers/imu/fxas21002c/FXAS21002C.cpp

@@ -418,7 +418,6 @@ void FXAS21002C::print_status()
 		}
 	}
 
-	_px4_gyro.print_status();
 }
 
 void

src/drivers/imu/icm20948/icm20948.cpp

@@ -828,7 +828,5 @@ ICM20948::print_status()
 	perf_print_counter(_good_transfers);
 	perf_print_counter(_duplicates);
 
-	_px4_accel.print_status();
-	_px4_gyro.print_status();
 	_mag.print_status();
 }

src/drivers/imu/invensense/icm20602/ICM20602.cpp

@@ -102,8 +102,6 @@ void ICM20602::print_status()
 	perf_print_counter(_fifo_reset_perf);
 	perf_print_counter(_drdy_interval_perf);
 
-	_px4_accel.print_status();
-	_px4_gyro.print_status();
 }
 
 int ICM20602::probe()

src/drivers/imu/invensense/icm20608g/ICM20608G.cpp

@@ -107,8 +107,6 @@ void ICM20608G::print_status()
 	perf_print_counter(_fifo_reset_perf);
 	perf_print_counter(_drdy_interval_perf);
 
-	_px4_accel.print_status();
-	_px4_gyro.print_status();
 }
 
 int ICM20608G::probe()

src/drivers/imu/invensense/icm20649/ICM20649.cpp

@@ -102,8 +102,6 @@ void ICM20649::print_status()
 	perf_print_counter(_fifo_reset_perf);
 	perf_print_counter(_drdy_interval_perf);
 
-	_px4_accel.print_status();
-	_px4_gyro.print_status();
 }
 
 int ICM20649::probe()

src/drivers/imu/invensense/icm20689/ICM20689.cpp

@@ -106,9 +106,6 @@ void ICM20689::print_status()
 	perf_print_counter(_fifo_overflow_perf);
 	perf_print_counter(_fifo_reset_perf);
 	perf_print_counter(_drdy_interval_perf);
-
-	_px4_accel.print_status();
-	_px4_gyro.print_status();
 }
 
 int ICM20689::probe()

src/drivers/imu/invensense/icm20948/ICM20948.cpp

@@ -124,8 +124,6 @@ void ICM20948::print_status()
 	perf_print_counter(_fifo_reset_perf);
 	perf_print_counter(_drdy_interval_perf);
 
-	_px4_accel.print_status();
-	_px4_gyro.print_status();
 
 	if (_slave_ak09916_magnetometer) {
 		_slave_ak09916_magnetometer->PrintInfo();

src/drivers/imu/invensense/icm40609d/ICM40609D.cpp

@@ -101,9 +101,6 @@ void ICM40609D::print_status()
 	perf_print_counter(_fifo_overflow_perf);
 	perf_print_counter(_fifo_reset_perf);
 	perf_print_counter(_drdy_interval_perf);
-
-	_px4_accel.print_status();
-	_px4_gyro.print_status();
 }
 
 int ICM40609D::probe()

src/drivers/imu/invensense/icm42688p/ICM42688P.cpp

@@ -102,8 +102,6 @@ void ICM42688P::print_status()
 	perf_print_counter(_fifo_reset_perf);
 	perf_print_counter(_drdy_interval_perf);
 
-	_px4_accel.print_status();
-	_px4_gyro.print_status();
 }
 
 int ICM42688P::probe()

src/drivers/imu/invensense/mpu6000/MPU6000.cpp

@@ -107,8 +107,6 @@ void MPU6000::print_status()
 	perf_print_counter(_fifo_reset_perf);
 	perf_print_counter(_drdy_interval_perf);
 
-	_px4_accel.print_status();
-	_px4_gyro.print_status();
 }
 
 int MPU6000::probe()

src/drivers/imu/invensense/mpu6500/MPU6500.cpp

@@ -102,8 +102,6 @@ void MPU6500::print_status()
 	perf_print_counter(_fifo_reset_perf);
 	perf_print_counter(_drdy_interval_perf);
 
-	_px4_accel.print_status();
-	_px4_gyro.print_status();
 }
 
 int MPU6500::probe()

src/drivers/imu/invensense/mpu9250/MPU9250.cpp

@@ -125,8 +125,6 @@ void MPU9250::print_status()
 	perf_print_counter(_fifo_reset_perf);
 	perf_print_counter(_drdy_interval_perf);
 
-	_px4_accel.print_status();
-	_px4_gyro.print_status();
 
 	if (_slave_ak8963_magnetometer) {
 		_slave_ak8963_magnetometer->PrintInfo();

src/drivers/imu/l3gd20/L3GD20.cpp

@@ -414,7 +414,6 @@ L3GD20::print_status()
 		}
 	}
 
-	_px4_gyro.print_status();
 }
 
 void

src/drivers/imu/mpu6000/MPU6000.cpp

@@ -883,8 +883,6 @@ MPU6000::print_status()
 	perf_print_counter(_reset_retries);
 	perf_print_counter(_duplicates);
 
-	_px4_accel.print_status();
-	_px4_gyro.print_status();
 }
 
 void

src/drivers/imu/mpu9250/mpu9250.cpp

@@ -670,7 +670,5 @@ MPU9250::print_status()
 	perf_print_counter(_bad_registers);
 	perf_print_counter(_duplicates);
 
-	_px4_accel.print_status();
-	_px4_gyro.print_status();
 	_mag.print_status();
 }

src/drivers/imu/st/ism330dlc/ISM330DLC.cpp

@@ -339,6 +339,4 @@ void ISM330DLC::print_status()
 	perf_print_counter(_drdy_count_perf);
 	perf_print_counter(_drdy_interval_perf);
 
-	_px4_accel.print_status();
-	_px4_gyro.print_status();
 }

src/drivers/imu/st/lsm9ds1/LSM9DS1.cpp

@@ -309,6 +309,4 @@ void LSM9DS1::print_status()
 	perf_print_counter(_fifo_overflow_perf);
 	perf_print_counter(_fifo_reset_perf);
 
-	_px4_accel.print_status();
-	_px4_gyro.print_status();
 }