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AP_InertialSensor: mark some parameters as Calibration parameters

c415-sdk
Peter Barker 5 years ago committed by Peter Barker
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cc3f6468e3
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ab7ee46423
1 changed files with 27 additions and 0 deletions
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  1. 27
      libraries/AP_InertialSensor/AP_InertialSensor.cpp

27
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -81,18 +81,21 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = { @@ -81,18 +81,21 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
// @Description: Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations
// @Units: rad/s
// @User: Advanced
// @Calibration: 1
// @Param: GYROFFS_Y
// @DisplayName: Gyro offsets of Y axis
// @Description: Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations
// @Units: rad/s
// @User: Advanced
// @Calibration: 1
// @Param: GYROFFS_Z
// @DisplayName: Gyro offsets of Z axis
// @Description: Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations
// @Units: rad/s
// @User: Advanced
// @Calibration: 1
AP_GROUPINFO("GYROFFS", 3, AP_InertialSensor, _gyro_offset[0], 0),
// @Param: GYR2OFFS_X
@ -100,18 +103,21 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = { @@ -100,18 +103,21 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
// @Description: Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations
// @Units: rad/s
// @User: Advanced
// @Calibration: 1
// @Param: GYR2OFFS_Y
// @DisplayName: Gyro2 offsets of Y axis
// @Description: Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations
// @Units: rad/s
// @User: Advanced
// @Calibration: 1
// @Param: GYR2OFFS_Z
// @DisplayName: Gyro2 offsets of Z axis
// @Description: Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations
// @Units: rad/s
// @User: Advanced
// @Calibration: 1
AP_GROUPINFO("GYR2OFFS", 7, AP_InertialSensor, _gyro_offset[1], 0),
// @Param: GYR3OFFS_X
@ -119,18 +125,21 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = { @@ -119,18 +125,21 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
// @Description: Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations
// @Units: rad/s
// @User: Advanced
// @Calibration: 1
// @Param: GYR3OFFS_Y
// @DisplayName: Gyro3 offsets of Y axis
// @Description: Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations
// @Units: rad/s
// @User: Advanced
// @Calibration: 1
// @Param: GYR3OFFS_Z
// @DisplayName: Gyro3 offsets of Z axis
// @Description: Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations
// @Units: rad/s
// @User: Advanced
// @Calibration: 1
AP_GROUPINFO("GYR3OFFS", 10, AP_InertialSensor, _gyro_offset[2], 0),
// @Param: ACCSCAL_X
@ -138,18 +147,21 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = { @@ -138,18 +147,21 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
// @Description: Accelerometer scaling of X axis. Calculated during acceleration calibration routine
// @Range: 0.8 1.2
// @User: Advanced
// @Calibration: 1
// @Param: ACCSCAL_Y
// @DisplayName: Accelerometer scaling of Y axis
// @Description: Accelerometer scaling of Y axis Calculated during acceleration calibration routine
// @Range: 0.8 1.2
// @User: Advanced
// @Calibration: 1
// @Param: ACCSCAL_Z
// @DisplayName: Accelerometer scaling of Z axis
// @Description: Accelerometer scaling of Z axis Calculated during acceleration calibration routine
// @Range: 0.8 1.2
// @User: Advanced
// @Calibration: 1
AP_GROUPINFO("ACCSCAL", 12, AP_InertialSensor, _accel_scale[0], 0),
// @Param: ACCOFFS_X
@ -158,6 +170,7 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = { @@ -158,6 +170,7 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
// @Units: m/s/s
// @Range: -3.5 3.5
// @User: Advanced
// @Calibration: 1
// @Param: ACCOFFS_Y
// @DisplayName: Accelerometer offsets of Y axis
@ -165,6 +178,7 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = { @@ -165,6 +178,7 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
// @Units: m/s/s
// @Range: -3.5 3.5
// @User: Advanced
// @Calibration: 1
// @Param: ACCOFFS_Z
// @DisplayName: Accelerometer offsets of Z axis
@ -172,6 +186,7 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = { @@ -172,6 +186,7 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
// @Units: m/s/s
// @Range: -3.5 3.5
// @User: Advanced
// @Calibration: 1
AP_GROUPINFO("ACCOFFS", 13, AP_InertialSensor, _accel_offset[0], 0),
// @Param: ACC2SCAL_X
@ -179,18 +194,21 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = { @@ -179,18 +194,21 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
// @Description: Accelerometer2 scaling of X axis. Calculated during acceleration calibration routine
// @Range: 0.8 1.2
// @User: Advanced
// @Calibration: 1
// @Param: ACC2SCAL_Y
// @DisplayName: Accelerometer2 scaling of Y axis
// @Description: Accelerometer2 scaling of Y axis Calculated during acceleration calibration routine
// @Range: 0.8 1.2
// @User: Advanced
// @Calibration: 1
// @Param: ACC2SCAL_Z
// @DisplayName: Accelerometer2 scaling of Z axis
// @Description: Accelerometer2 scaling of Z axis Calculated during acceleration calibration routine
// @Range: 0.8 1.2
// @User: Advanced
// @Calibration: 1
AP_GROUPINFO("ACC2SCAL", 14, AP_InertialSensor, _accel_scale[1], 0),
// @Param: ACC2OFFS_X
@ -199,6 +217,7 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = { @@ -199,6 +217,7 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
// @Units: m/s/s
// @Range: -3.5 3.5
// @User: Advanced
// @Calibration: 1
// @Param: ACC2OFFS_Y
// @DisplayName: Accelerometer2 offsets of Y axis
@ -206,6 +225,7 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = { @@ -206,6 +225,7 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
// @Units: m/s/s
// @Range: -3.5 3.5
// @User: Advanced
// @Calibration: 1
// @Param: ACC2OFFS_Z
// @DisplayName: Accelerometer2 offsets of Z axis
@ -213,6 +233,7 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = { @@ -213,6 +233,7 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
// @Units: m/s/s
// @Range: -3.5 3.5
// @User: Advanced
// @Calibration: 1
AP_GROUPINFO("ACC2OFFS", 15, AP_InertialSensor, _accel_offset[1], 0),
// @Param: ACC3SCAL_X
@ -220,18 +241,21 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = { @@ -220,18 +241,21 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
// @Description: Accelerometer3 scaling of X axis. Calculated during acceleration calibration routine
// @Range: 0.8 1.2
// @User: Advanced
// @Calibration: 1
// @Param: ACC3SCAL_Y
// @DisplayName: Accelerometer3 scaling of Y axis
// @Description: Accelerometer3 scaling of Y axis Calculated during acceleration calibration routine
// @Range: 0.8 1.2
// @User: Advanced
// @Calibration: 1
// @Param: ACC3SCAL_Z
// @DisplayName: Accelerometer3 scaling of Z axis
// @Description: Accelerometer3 scaling of Z axis Calculated during acceleration calibration routine
// @Range: 0.8 1.2
// @User: Advanced
// @Calibration: 1
AP_GROUPINFO("ACC3SCAL", 16, AP_InertialSensor, _accel_scale[2], 0),
// @Param: ACC3OFFS_X
@ -240,6 +264,7 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = { @@ -240,6 +264,7 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
// @Units: m/s/s
// @Range: -3.5 3.5
// @User: Advanced
// @Calibration: 1
// @Param: ACC3OFFS_Y
// @DisplayName: Accelerometer3 offsets of Y axis
@ -247,6 +272,7 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = { @@ -247,6 +272,7 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
// @Units: m/s/s
// @Range: -3.5 3.5
// @User: Advanced
// @Calibration: 1
// @Param: ACC3OFFS_Z
// @DisplayName: Accelerometer3 offsets of Z axis
@ -254,6 +280,7 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = { @@ -254,6 +280,7 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
// @Units: m/s/s
// @Range: -3.5 3.5
// @User: Advanced
// @Calibration: 1
AP_GROUPINFO("ACC3OFFS", 17, AP_InertialSensor, _accel_offset[2], 0),
// @Param: GYRO_FILTER

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