Tools: Enable offline calibrator to handle less than 3 inertial sensors

Tools/process_sensor_caldata.py

@@ -50,32 +50,40 @@ data = ulog.data_list
 
 # extract gyro data
 sensor_instance = 0
+num_gyros = 0
 for d in data:
     if d.name == 'sensor_gyro':
         if sensor_instance == 0:
             sensor_gyro_0 = d.data
             print('found gyro 0 data')
+	    num_gyros = 1
         if sensor_instance == 1:
             sensor_gyro_1 = d.data
             print('found gyro 1 data')
+	    num_gyros = 2
 	if sensor_instance == 2:
             sensor_gyro_2 = d.data
             print('found gyro 2 data')
+	    num_gyros = 3
 	sensor_instance = sensor_instance +1
 
 # extract accel data
 sensor_instance = 0
+num_accels = 0
 for d in data:
     if d.name == 'sensor_accel':
         if sensor_instance == 0:
             sensor_accel_0 = d.data
             print('found accel 0 data')
+	    num_accels = 1
         if sensor_instance == 1:
             sensor_accel_1 = d.data
             print('found accel 1 data')
+	    num_accels = 2
         if sensor_instance == 2:
             sensor_accel_2 = d.data
             print('found accel 2 data')
+	    num_accels = 3
         sensor_instance = sensor_instance +1
 
 # extract baro data
@@ -124,6 +132,7 @@ gyro_0_params = {
 }
 
 # curve fit the data for gyro 0 corrections
+if num_gyros >= 1:
 	gyro_0_params['TC_G0_ID'] = int(np.median(sensor_gyro_0['device_id']))
 
 	# find the min, max and reference temperature
@@ -219,6 +228,7 @@ gyro_1_params = {
 }
 
 # curve fit the data for gyro 1 corrections
+if num_gyros >= 2:
 	gyro_1_params['TC_G1_ID'] = int(np.median(sensor_gyro_1['device_id']))
 
 	# find the min, max and reference temperature
@@ -314,6 +324,7 @@ gyro_2_params = {
 }
 
 # curve fit the data for gyro 2 corrections
+if num_gyros >= 3:
 	gyro_2_params['TC_G2_ID'] = int(np.median(sensor_gyro_2['device_id']))
 
 	# find the min, max and reference temperature
@@ -409,6 +420,7 @@ accel_0_params = {
 }
 
 # curve fit the data for accel 0 corrections
+if num_accel >= 1:
 	accel_0_params['TC_A0_ID'] = int(np.median(sensor_accel_0['device_id']))
 
 	# find the min, max and reference temperature
@@ -507,6 +519,7 @@ accel_1_params = {
 }
 
 # curve fit the data for accel 1 corrections
+if num_accel >= 2:
 	accel_1_params['TC_A1_ID'] = int(np.median(sensor_accel_1['device_id']))
 
 	# find the min, max and reference temperature
@@ -605,6 +618,7 @@ accel_2_params = {
 }
 
 # curve fit the data for accel 2 corrections
+if num_accels >= 3:
 	accel_2_params['TC_A2_ID'] = int(np.median(sensor_accel_2['device_id']))
 
 	# find the min, max and reference temperature