AP_InertialSensor: support saving tempcal params persistently

libraries/AP_InertialSensor/AP_InertialSensor.h

@@ -433,6 +433,14 @@ public:
     void handle_external(const AP_ExternalAHRS::ins_data_message_t &pkt);
 #endif
 
+#if HAL_INS_TEMPERATURE_CAL_ENABLE
+    /*
+      get a string representation of parameters that should be made
+      persistent across changes of firmware type
+     */
+    void get_persistent_params(ExpandingString &str) const;
+#endif
+
 private:
     // load backend drivers
     bool _add_backend(AP_InertialSensor_Backend *backend);
@@ -737,6 +745,9 @@ public:
 
         AP_Enum<Enable> enable;
 
+        // get persistent params for this instance
+        void get_persistent_params(ExpandingString &str) const;
+
     private:
         AP_Float temp_max;
         AP_Float temp_min;

libraries/AP_InertialSensor/AP_InertialSensor_tempcal.cpp

@@ -22,6 +22,7 @@
 
 #include <GCS_MAVLink/GCS.h>
 #include <AP_Logger/AP_Logger.h>
+#include <AP_Common/ExpandingString.h>
 
 // this scale factor ensures params are easy to work with in GUI parameter editors
 #define SCALE_FACTOR 1.0e6
@@ -421,4 +422,40 @@ uint8_t AP_InertialSensor::TCal::instance(void) const
     return AP::ins().tcal_instance(*this);
 }
 
+/*
+  get a string representation of parameters for this calibration set
+*/
+void AP_InertialSensor::TCal::get_persistent_params(ExpandingString &str) const
+{
+    if (enable != TCal::Enable::Enabled) {
+        return;
+    }
+    const uint8_t imu = instance()+1;
+    str.printf("INS_TCAL%u_ENABLE=1\n", imu);
+    str.printf("INS_TCAL%u_TMIN=%.1f\n", imu, temp_min.get());
+    str.printf("INS_TCAL%u_TMAX=%.1f\n", imu, temp_max.get());
+    for (uint8_t k=0; k<3; k++) {
+        const Vector3f &acc = accel_coeff[k].get();
+        const Vector3f &gyr = gyro_coeff[k].get();
+        str.printf("INS_TCAL%u_ACC%u_X=%.1f\n", imu, k+1, acc.x);
+        str.printf("INS_TCAL%u_ACC%u_Y=%.1f\n", imu, k+1, acc.y);
+        str.printf("INS_TCAL%u_ACC%u_Z=%.1f\n", imu, k+1, acc.z);
+        str.printf("INS_TCAL%u_GYR%u_X=%.1f\n", imu, k+1, gyr.x);
+        str.printf("INS_TCAL%u_GYR%u_Y=%.1f\n", imu, k+1, gyr.y);
+        str.printf("INS_TCAL%u_GYR%u_Z=%.1f\n", imu, k+1, gyr.z);
+    }
+}
+
+/*
+  get a string representation of parameters that should be made
+  persistent across changes of firmware type
+*/
+void AP_InertialSensor::get_persistent_params(ExpandingString &str) const
+{
+    for (auto &tc : tcal) {
+        tc.get_persistent_params(str);
+    }
+}
+
+
 #endif // HAL_INS_TEMPERATURE_CAL_ENABLE