sensors app: Use indexed param names

src/modules/sensors/sensor_params.c

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2015 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
@@ -36,20 +36,192 @@
  *
  * Parameters defined by the sensors task.
  *
- * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Lorenz Meier <lorenz@px4.io>
- * @author Julian Oes <joes@student.ethz.ch>
+ * @author Julian Oes <julian@px4.io>
- * @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ * @author Thomas Gubler <thomas@px4.io>
  */
 
 #include <nuttx/config.h>
 #include <systemlib/param/param.h>
 
+/**
+ * ID of the board this parameter set was calibrated on.
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_BOARD_ID, 0);
+
+/**
+ * ID of the Gyro that the calibration is for.
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_GYRO0_ID, 0);
+
+/**
+ * Gyro X-axis offset
+ *
+ * @min -10.0
+ * @max 10.0
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_GYRO0_XOFF, 0.0f);
+
+/**
+ * Gyro Y-axis offset
+ *
+ * @min -10.0
+ * @max 10.0
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_GYRO0_YOFF, 0.0f);
+
+/**
+ * Gyro Z-axis offset
+ *
+ * @min -5.0
+ * @max 5.0
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_GYRO0_ZOFF, 0.0f);
+
+/**
+ * Gyro X-axis scaling factor
+ *
+ * @min -1.5
+ * @max 1.5
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_GYRO0_XSCALE, 1.0f);
+
+/**
+ * Gyro Y-axis scaling factor
+ *
+ * @min -1.5
+ * @max 1.5
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_GYRO0_YSCALE, 1.0f);
+
+/**
+ * Gyro Z-axis scaling factor
+ *
+ * @min -1.5
+ * @max 1.5
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_GYRO0_ZSCALE, 1.0f);
+
+/**
+ * ID of Magnetometer the calibration is for.
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_MAG0_ID, 0);
+
+/**
+ * Magnetometer X-axis offset
+ *
+ * @min -500.0
+ * @max 500.0
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_MAG0_XOFF, 0.0f);
+
+/**
+ * Magnetometer Y-axis offset
+ *
+ * @min -500.0
+ * @max 500.0
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_MAG0_YOFF, 0.0f);
+
+/**
+ * Magnetometer Z-axis offset
+ *
+ * @min -500.0
+ * @max 500.0
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_MAG0_ZOFF, 0.0f);
+
+/**
+ * Magnetometer X-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_MAG0_XSCALE, 1.0f);
+
+/**
+ * Magnetometer Y-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_MAG0_YSCALE, 1.0f);
+
+/**
+ * Magnetometer Z-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_MAG0_ZSCALE, 1.0f);
+
+/**
+ * ID of the Accelerometer that the calibration is for.
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_ACC0_ID, 0);
+
+/**
+ * Accelerometer X-axis offset
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_ACC0_XOFF, 0.0f);
+
+/**
+ * Accelerometer Y-axis offset
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_ACC0_YOFF, 0.0f);
+
+/**
+ * Accelerometer Z-axis offset
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_ACC0_ZOFF, 0.0f);
+
+/**
+ * Accelerometer X-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_ACC0_XSCALE, 1.0f);
+
+/**
+ * Accelerometer Y-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_ACC0_YSCALE, 1.0f);
+
+/**
+ * Accelerometer Z-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_ACC0_ZSCALE, 1.0f);
+
 /**
  * ID of the Gyro that the calibration is for.
  *
  * @group Sensor Calibration
  */
-PARAM_DEFINE_INT32(SENS_GYRO_ID, 0);
+PARAM_DEFINE_INT32(CAL_GYRO1_ID, 0);
 
 /**
  * Gyro X-axis offset
@@ -58,7 +230,7 @@ PARAM_DEFINE_INT32(SENS_GYRO_ID, 0);
  * @max 10.0
  * @group Sensor Calibration
  */
-PARAM_DEFINE_FLOAT(SENS_GYRO_XOFF, 0.0f);
+PARAM_DEFINE_FLOAT(CAL_GYRO1_XOFF, 0.0f);
 
 /**
  * Gyro Y-axis offset
@@ -67,7 +239,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_XOFF, 0.0f);
  * @max 10.0
  * @group Sensor Calibration
  */
-PARAM_DEFINE_FLOAT(SENS_GYRO_YOFF, 0.0f);
+PARAM_DEFINE_FLOAT(CAL_GYRO1_YOFF, 0.0f);
 
 /**
  * Gyro Z-axis offset
@@ -76,7 +248,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_YOFF, 0.0f);
  * @max 5.0
  * @group Sensor Calibration
  */
-PARAM_DEFINE_FLOAT(SENS_GYRO_ZOFF, 0.0f);
+PARAM_DEFINE_FLOAT(CAL_GYRO1_ZOFF, 0.0f);
 
 /**
  * Gyro X-axis scaling factor
@@ -85,7 +257,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_ZOFF, 0.0f);
  * @max 1.5
  * @group Sensor Calibration
  */
-PARAM_DEFINE_FLOAT(SENS_GYRO_XSCALE, 1.0f);
+PARAM_DEFINE_FLOAT(CAL_GYRO1_XSCALE, 1.0f);
 
 /**
  * Gyro Y-axis scaling factor
@@ -94,7 +266,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_XSCALE, 1.0f);
  * @max 1.5
  * @group Sensor Calibration
  */
-PARAM_DEFINE_FLOAT(SENS_GYRO_YSCALE, 1.0f);
+PARAM_DEFINE_FLOAT(CAL_GYRO1_YSCALE, 1.0f);
 
 /**
  * Gyro Z-axis scaling factor
@@ -103,14 +275,14 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_YSCALE, 1.0f);
  * @max 1.5
  * @group Sensor Calibration
  */
-PARAM_DEFINE_FLOAT(SENS_GYRO_ZSCALE, 1.0f);
+PARAM_DEFINE_FLOAT(CAL_GYRO1_ZSCALE, 1.0f);
 
 /**
  * ID of Magnetometer the calibration is for.
  *
  * @group Sensor Calibration
  */
-PARAM_DEFINE_INT32(SENS_MAG_ID, 0);
+PARAM_DEFINE_INT32(CAL_MAG1_ID, 0);
 
 /**
  * Magnetometer X-axis offset
@@ -119,7 +291,7 @@ PARAM_DEFINE_INT32(SENS_MAG_ID, 0);
  * @max 500.0
  * @group Sensor Calibration
  */
-PARAM_DEFINE_FLOAT(SENS_MAG_XOFF, 0.0f);
+PARAM_DEFINE_FLOAT(CAL_MAG1_XOFF, 0.0f);
 
 /**
  * Magnetometer Y-axis offset
@@ -128,7 +300,7 @@ PARAM_DEFINE_FLOAT(SENS_MAG_XOFF, 0.0f);
  * @max 500.0
  * @group Sensor Calibration
  */
-PARAM_DEFINE_FLOAT(SENS_MAG_YOFF, 0.0f);
+PARAM_DEFINE_FLOAT(CAL_MAG1_YOFF, 0.0f);
 
 /**
  * Magnetometer Z-axis offset
@@ -137,78 +309,242 @@ PARAM_DEFINE_FLOAT(SENS_MAG_YOFF, 0.0f);
  * @max 500.0
  * @group Sensor Calibration
  */
-PARAM_DEFINE_FLOAT(SENS_MAG_ZOFF, 0.0f);
+PARAM_DEFINE_FLOAT(CAL_MAG1_ZOFF, 0.0f);
 
 /**
  * Magnetometer X-axis scaling factor
  *
  * @group Sensor Calibration
  */
-PARAM_DEFINE_FLOAT(SENS_MAG_XSCALE, 1.0f);
+PARAM_DEFINE_FLOAT(CAL_MAG1_XSCALE, 1.0f);
 
 /**
  * Magnetometer Y-axis scaling factor
  *
  * @group Sensor Calibration
  */
-PARAM_DEFINE_FLOAT(SENS_MAG_YSCALE, 1.0f);
+PARAM_DEFINE_FLOAT(CAL_MAG1_YSCALE, 1.0f);
 
 /**
  * Magnetometer Z-axis scaling factor
  *
  * @group Sensor Calibration
  */
-PARAM_DEFINE_FLOAT(SENS_MAG_ZSCALE, 1.0f);
+PARAM_DEFINE_FLOAT(CAL_MAG1_ZSCALE, 1.0f);
 
 /**
  * ID of the Accelerometer that the calibration is for.
  *
  * @group Sensor Calibration
  */
-PARAM_DEFINE_INT32(SENS_ACC_ID, 0);
+PARAM_DEFINE_INT32(CAL_ACC1_ID, 0);
 
 /**
  * Accelerometer X-axis offset
  *
  * @group Sensor Calibration
  */
-PARAM_DEFINE_FLOAT(SENS_ACC_XOFF, 0.0f);
+PARAM_DEFINE_FLOAT(CAL_ACC1_XOFF, 0.0f);
 
 /**
  * Accelerometer Y-axis offset
  *
  * @group Sensor Calibration
  */
-PARAM_DEFINE_FLOAT(SENS_ACC_YOFF, 0.0f);
+PARAM_DEFINE_FLOAT(CAL_ACC1_YOFF, 0.0f);
 
 /**
  * Accelerometer Z-axis offset
  *
  * @group Sensor Calibration
  */
-PARAM_DEFINE_FLOAT(SENS_ACC_ZOFF, 0.0f);
+PARAM_DEFINE_FLOAT(CAL_ACC1_ZOFF, 0.0f);
 
 /**
  * Accelerometer X-axis scaling factor
  *
  * @group Sensor Calibration
  */
-PARAM_DEFINE_FLOAT(SENS_ACC_XSCALE, 1.0f);
+PARAM_DEFINE_FLOAT(CAL_ACC1_XSCALE, 1.0f);
 
 /**
  * Accelerometer Y-axis scaling factor
  *
  * @group Sensor Calibration
  */
-PARAM_DEFINE_FLOAT(SENS_ACC_YSCALE, 1.0f);
+PARAM_DEFINE_FLOAT(CAL_ACC1_YSCALE, 1.0f);
 
 /**
  * Accelerometer Z-axis scaling factor
  *
  * @group Sensor Calibration
  */
-PARAM_DEFINE_FLOAT(SENS_ACC_ZSCALE, 1.0f);
+PARAM_DEFINE_FLOAT(CAL_ACC1_ZSCALE, 1.0f);
+
+/**
+ * ID of the Gyro that the calibration is for.
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_GYRO2_ID, 0);
+
+/**
+ * Gyro X-axis offset
+ *
+ * @min -10.0
+ * @max 10.0
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_GYRO2_XOFF, 0.0f);
+
+/**
+ * Gyro Y-axis offset
+ *
+ * @min -10.0
+ * @max 10.0
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_GYRO2_YOFF, 0.0f);
+
+/**
+ * Gyro Z-axis offset
+ *
+ * @min -5.0
+ * @max 5.0
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_GYRO2_ZOFF, 0.0f);
+
+/**
+ * Gyro X-axis scaling factor
+ *
+ * @min -1.5
+ * @max 1.5
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_GYRO2_XSCALE, 1.0f);
+
+/**
+ * Gyro Y-axis scaling factor
+ *
+ * @min -1.5
+ * @max 1.5
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_GYRO2_YSCALE, 1.0f);
+
+/**
+ * Gyro Z-axis scaling factor
+ *
+ * @min -1.5
+ * @max 1.5
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_GYRO2_ZSCALE, 1.0f);
+
+/**
+ * ID of Magnetometer the calibration is for.
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_MAG2_ID, 0);
+
+/**
+ * Magnetometer X-axis offset
+ *
+ * @min -500.0
+ * @max 500.0
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_MAG2_XOFF, 0.0f);
+
+/**
+ * Magnetometer Y-axis offset
+ *
+ * @min -500.0
+ * @max 500.0
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_MAG2_YOFF, 0.0f);
 
+/**
+ * Magnetometer Z-axis offset
+ *
+ * @min -500.0
+ * @max 500.0
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_MAG2_ZOFF, 0.0f);
+
+/**
+ * Magnetometer X-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_MAG2_XSCALE, 1.0f);
+
+/**
+ * Magnetometer Y-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_MAG2_YSCALE, 1.0f);
+
+/**
+ * Magnetometer Z-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_MAG2_ZSCALE, 1.0f);
+
+/**
+ * ID of the Accelerometer that the calibration is for.
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_ACC2_ID, 0);
+
+/**
+ * Accelerometer X-axis offset
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_ACC2_XOFF, 0.0f);
+
+/**
+ * Accelerometer Y-axis offset
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_ACC2_YOFF, 0.0f);
+
+/**
+ * Accelerometer Z-axis offset
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_ACC2_ZOFF, 0.0f);
+
+/**
+ * Accelerometer X-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_ACC2_XSCALE, 1.0f);
+
+/**
+ * Accelerometer Y-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_ACC2_YSCALE, 1.0f);
+
+/**
+ * Accelerometer Z-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_ACC2_ZSCALE, 1.0f);
 
 /**
  * Differential pressure sensor offset

src/modules/sensors/sensors.cpp

@@ -619,29 +619,29 @@ Sensors::Sensors() :
 	_parameter_handles.rc_offboard_th = param_find("RC_OFFB_TH");
 
 	/* gyro offsets */
-	_parameter_handles.gyro_offset[0] = param_find("SENS_GYRO_XOFF");
+	_parameter_handles.gyro_offset[0] = param_find("CAL_GYRO0_XOFF");
-	_parameter_handles.gyro_offset[1] = param_find("SENS_GYRO_YOFF");
+	_parameter_handles.gyro_offset[1] = param_find("CAL_GYRO0_YOFF");
-	_parameter_handles.gyro_offset[2] = param_find("SENS_GYRO_ZOFF");
+	_parameter_handles.gyro_offset[2] = param_find("CAL_GYRO0_ZOFF");
-	_parameter_handles.gyro_scale[0] = param_find("SENS_GYRO_XSCALE");
+	_parameter_handles.gyro_scale[0] = param_find("CAL_GYRO0_XSCALE");
-	_parameter_handles.gyro_scale[1] = param_find("SENS_GYRO_YSCALE");
+	_parameter_handles.gyro_scale[1] = param_find("CAL_GYRO0_YSCALE");
-	_parameter_handles.gyro_scale[2] = param_find("SENS_GYRO_ZSCALE");
+	_parameter_handles.gyro_scale[2] = param_find("CAL_GYRO0_ZSCALE");
 
 	/* accel offsets */
-	_parameter_handles.accel_offset[0] = param_find("SENS_ACC_XOFF");
+	_parameter_handles.accel_offset[0] = param_find("CAL_ACC0_XOFF");
-	_parameter_handles.accel_offset[1] = param_find("SENS_ACC_YOFF");
+	_parameter_handles.accel_offset[1] = param_find("CAL_ACC0_YOFF");
-	_parameter_handles.accel_offset[2] = param_find("SENS_ACC_ZOFF");
+	_parameter_handles.accel_offset[2] = param_find("CAL_ACC0_ZOFF");
-	_parameter_handles.accel_scale[0] = param_find("SENS_ACC_XSCALE");
+	_parameter_handles.accel_scale[0] = param_find("CAL_ACC0_XSCALE");
-	_parameter_handles.accel_scale[1] = param_find("SENS_ACC_YSCALE");
+	_parameter_handles.accel_scale[1] = param_find("CAL_ACC0_YSCALE");
-	_parameter_handles.accel_scale[2] = param_find("SENS_ACC_ZSCALE");
+	_parameter_handles.accel_scale[2] = param_find("CAL_ACC0_ZSCALE");
 
 	/* mag offsets */
-	_parameter_handles.mag_offset[0] = param_find("SENS_MAG_XOFF");
+	_parameter_handles.mag_offset[0] = param_find("CAL_MAG0_XOFF");
-	_parameter_handles.mag_offset[1] = param_find("SENS_MAG_YOFF");
+	_parameter_handles.mag_offset[1] = param_find("CAL_MAG0_YOFF");
-	_parameter_handles.mag_offset[2] = param_find("SENS_MAG_ZOFF");
+	_parameter_handles.mag_offset[2] = param_find("CAL_MAG0_ZOFF");
 
-	_parameter_handles.mag_scale[0] = param_find("SENS_MAG_XSCALE");
+	_parameter_handles.mag_scale[0] = param_find("CAL_MAG0_XSCALE");
-	_parameter_handles.mag_scale[1] = param_find("SENS_MAG_YSCALE");
+	_parameter_handles.mag_scale[1] = param_find("CAL_MAG0_YSCALE");
-	_parameter_handles.mag_scale[2] = param_find("SENS_MAG_ZSCALE");
+	_parameter_handles.mag_scale[2] = param_find("CAL_MAG0_ZSCALE");
 
 	/* Differential pressure offset */
 	_parameter_handles.diff_pres_offset_pa = param_find("SENS_DPRES_OFF");