lib/sensor_calibration: check param save success and comment helpers

src/lib/sensor_calibration/Accelerometer.cpp

@@ -155,10 +155,11 @@ bool Accelerometer::ParametersSave()
 {
 	if (_calibration_index >= 0) {
 		// save calibration
-		SetCalibrationParam(SensorString(), "ID", _calibration_index, _device_id);
+		bool success = true;
-		SetCalibrationParam(SensorString(), "PRIO", _calibration_index, _priority);
+		success &= SetCalibrationParam(SensorString(), "ID", _calibration_index, _device_id);
-		SetCalibrationParamsVector3f(SensorString(), "OFF", _calibration_index, _offset);
+		success &= SetCalibrationParam(SensorString(), "PRIO", _calibration_index, _priority);
-		SetCalibrationParamsVector3f(SensorString(), "SCALE", _calibration_index, _scale);
+		success &= SetCalibrationParamsVector3f(SensorString(), "OFF", _calibration_index, _offset);
+		success &= SetCalibrationParamsVector3f(SensorString(), "SCALE", _calibration_index, _scale);
 
 		// if (_external) {
 		// 	SetCalibrationParam(SensorString(), "ROT", _calibration_index, (int32_t)_rotation_enum);
@@ -167,7 +168,7 @@ bool Accelerometer::ParametersSave()
 		// 	SetCalibrationParam(SensorString(), "ROT", _calibration_index, -1);
 		// }
 
-		return true;
+		return success;
 	}
 
 	return false;

src/lib/sensor_calibration/Gyroscope.cpp

@@ -151,9 +151,10 @@ bool Gyroscope::ParametersSave()
 {
 	if (_calibration_index >= 0) {
 		// save calibration
-		SetCalibrationParam(SensorString(), "ID", _calibration_index, _device_id);
+		bool success = true;
-		SetCalibrationParam(SensorString(), "PRIO", _calibration_index, _priority);
+		success &= SetCalibrationParam(SensorString(), "ID", _calibration_index, _device_id);
-		SetCalibrationParamsVector3f(SensorString(), "OFF", _calibration_index, _offset);
+		success &= SetCalibrationParam(SensorString(), "PRIO", _calibration_index, _priority);
+		success &= SetCalibrationParamsVector3f(SensorString(), "OFF", _calibration_index, _offset);
 
 		// if (_external) {
 		// 	SetCalibrationParam(SensorString(), "ROT", _calibration_index, (int32_t)_rotation_enum);
@@ -162,7 +163,7 @@ bool Gyroscope::ParametersSave()
 		// 	SetCalibrationParam(SensorString(), "ROT", _calibration_index, -1);
 		// }
 
-		return true;
+		return success;
 	}
 
 	return false;

src/lib/sensor_calibration/Magnetometer.cpp

@@ -200,26 +200,27 @@ bool Magnetometer::ParametersSave()
 {
 	if (_calibration_index >= 0) {
 		// save calibration
-		SetCalibrationParam(SensorString(), "ID", _calibration_index, _device_id);
+		bool success = true;
-		SetCalibrationParam(SensorString(), "PRIO", _calibration_index, _priority);
+		success &= SetCalibrationParam(SensorString(), "ID", _calibration_index, _device_id);
-		SetCalibrationParamsVector3f(SensorString(), "OFF", _calibration_index, _offset);
+		success &= SetCalibrationParam(SensorString(), "PRIO", _calibration_index, _priority);
+		success &= SetCalibrationParamsVector3f(SensorString(), "OFF", _calibration_index, _offset);
 
-		Vector3f scale{_scale.diag()};
+		const Vector3f scale{_scale.diag()};
-		SetCalibrationParamsVector3f(SensorString(), "SCALE", _calibration_index, scale);
+		success &= SetCalibrationParamsVector3f(SensorString(), "SCALE", _calibration_index, scale);
 
-		Vector3f off_diag{_scale(0, 1), _scale(0, 2), _scale(1, 2)};
+		const Vector3f off_diag{_scale(0, 1), _scale(0, 2), _scale(1, 2)};
-		SetCalibrationParamsVector3f(SensorString(), "ODIAG", _calibration_index, off_diag);
+		success &= SetCalibrationParamsVector3f(SensorString(), "ODIAG", _calibration_index, off_diag);
 
-		SetCalibrationParamsVector3f(SensorString(), "COMP", _calibration_index, _power_compensation);
+		success &= SetCalibrationParamsVector3f(SensorString(), "COMP", _calibration_index, _power_compensation);
 
 		if (_external) {
-			SetCalibrationParam(SensorString(), "ROT", _calibration_index, (int32_t)_rotation_enum);
+			success &= SetCalibrationParam(SensorString(), "ROT", _calibration_index, (int32_t)_rotation_enum);
 
 		} else {
-			SetCalibrationParam(SensorString(), "ROT", _calibration_index, -1);
+			success &= SetCalibrationParam(SensorString(), "ROT", _calibration_index, -1);
 		}
 
-		return true;
+		return success;
 	}
 
 	return false;

src/lib/sensor_calibration/Utilities.cpp

@@ -90,7 +90,7 @@ int32_t GetCalibrationParam(const char *sensor_type, const char *cal_type, uint8
 	return value;
 }
 
-int SetCalibrationParam(const char *sensor_type, const char *cal_type, uint8_t instance, int32_t value)
+bool SetCalibrationParam(const char *sensor_type, const char *cal_type, uint8_t instance, int32_t value)
 {
 	char str[20] {};
 
@@ -103,7 +103,7 @@ int SetCalibrationParam(const char *sensor_type, const char *cal_type, uint8_t i
 		PX4_ERR("failed to set %s = %d", str, value);
 	}
 
-	return ret;
+	return ret == PX4_OK;
 }
 
 Vector3f GetCalibrationParamsVector3f(const char *sensor_type, const char *cal_type, uint8_t instance)
@@ -126,7 +126,7 @@ Vector3f GetCalibrationParamsVector3f(const char *sensor_type, const char *cal_t
 	return values;
 }
 
-int SetCalibrationParamsVector3f(const char *sensor_type, const char *cal_type, uint8_t instance, Vector3f values)
+bool SetCalibrationParamsVector3f(const char *sensor_type, const char *cal_type, uint8_t instance, Vector3f values)
 {
 	int ret = PX4_OK;
 	char str[20] {};
@@ -143,7 +143,7 @@ int SetCalibrationParamsVector3f(const char *sensor_type, const char *cal_type,
 		}
 	}
 
-	return ret;
+	return ret == PX4_OK;
 }
 
 Dcmf GetBoardRotation()

src/lib/sensor_calibration/Utilities.hpp

@@ -38,16 +38,63 @@
 namespace calibration
 {
 
+/**
+ * @brief Find sensor's calibration index if it exists.
+ *
+ * @param sensor_type Calibration parameter abbreviated sensor string ("ACC", "GYRO", "MAG")
+ * @param device_id
+ * @return int8_t Valid calibration index on success, -1 otherwise
+ */
 int8_t FindCalibrationIndex(const char *sensor_type, uint32_t device_id);
 
+/**
+ * @brief Get sensor calibration parameter value.
+ *
+ * @param sensor_type Calibration parameter abbreviated sensor string ("ACC", "GYRO", "MAG")
+ * @param cal_type Calibration parameter abbreviated type ("OFF", "SCALE", "ROT", "PRIO")
+ * @param instance
+ * @return int32_t The calibration value.
+ */
 int32_t GetCalibrationParam(const char *sensor_type, const char *cal_type, uint8_t instance);
-int SetCalibrationParam(const char *sensor_type, const char *cal_type, uint8_t instance, int32_t value);
 
+/**
+ * @brief Set a single calibration paramter.
+ *
+ * @param sensor_type Calibration parameter abbreviated sensor string ("ACC", "GYRO", "MAG")
+ * @param cal_type Calibration parameter abbreviated type ("OFF", "SCALE", "ROT", "PRIO")
+ * @param instance Calibration index (0 - 3)
+ * @param value int32_t parameter value
+ * @return true if the parameter name was valid and value saved successfully, false otherwise.
+ */
+bool SetCalibrationParam(const char *sensor_type, const char *cal_type, uint8_t instance, int32_t value);
+
+/**
+ * @brief Get the Calibration Params Vector 3f object
+ *
+ * @param sensor_type Calibration parameter abbreviated sensor string ("ACC", "GYRO", "MAG")
+ * @param cal_type Calibration parameter abbreviated type ("OFF", "SCALE", "ROT", "PRIO")
+ * @param instance Calibration index (0 - 3)
+ * @return matrix::Vector3f Vector of calibration values.
+ */
 matrix::Vector3f GetCalibrationParamsVector3f(const char *sensor_type, const char *cal_type, uint8_t instance);
-int SetCalibrationParamsVector3f(const char *sensor_type, const char *cal_type, uint8_t instance,
-				 matrix::Vector3f values);
 
-matrix::Dcmf GetBoardRotation();
+/**
+ * @brief Set the Calibration Params Vector 3f object
+ *
+ * @param sensor_type Calibration parameter abbreviated sensor string ("ACC", "GYRO", "MAG")
+ * @param cal_type Calibration parameter abbreviated type ("OFF", "SCALE", "ROT", "PRIO")
+ * @param instance Calibration index (0 - 3)
+ * @param values Vector of calibration values x, y, z.
+ * @return true if the parameter name was valid and all values saved successfully, false otherwise.
+ */
+bool SetCalibrationParamsVector3f(const char *sensor_type, const char *cal_type, uint8_t instance,
+				  matrix::Vector3f values);
 
+/**
+ * @brief Get the overall board rotation, including level adjustment.
+ *
+ * @return matrix::Dcmf
+ */
+matrix::Dcmf GetBoardRotation();
 
 } // namespace calibration