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AP_Compass: mark some parameters as Calibration parameters

c415-sdk
Peter Barker 5 years ago committed by Peter Barker
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16f4d33d00
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cc3f6468e3
1 changed files with 40 additions and 0 deletions
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  1. 40
      libraries/AP_Compass/AP_Compass.cpp

40
libraries/AP_Compass/AP_Compass.cpp
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@ -60,6 +60,7 @@ const AP_Param::GroupInfo Compass::var_info[] = { @@ -60,6 +60,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
// @Units: mGauss
// @Increment: 1
// @User: Advanced
// @Calibration: 1
// @Param: OFS_Y
// @DisplayName: Compass offsets in milligauss on the Y axis
@ -68,6 +69,7 @@ const AP_Param::GroupInfo Compass::var_info[] = { @@ -68,6 +69,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
// @Units: mGauss
// @Increment: 1
// @User: Advanced
// @Calibration: 1
// @Param: OFS_Z
// @DisplayName: Compass offsets in milligauss on the Z axis
@ -76,6 +78,7 @@ const AP_Param::GroupInfo Compass::var_info[] = { @@ -76,6 +78,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
// @Units: mGauss
// @Increment: 1
// @User: Advanced
// @Calibration: 1
AP_GROUPINFO("OFS", 1, Compass, _state[0].offset, 0),
// @Param: DEC
@ -113,6 +116,7 @@ const AP_Param::GroupInfo Compass::var_info[] = { @@ -113,6 +116,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
// @Description: Set motor interference compensation type to disabled, throttle or current. Do not change manually.
// @Values: 0:Disabled,1:Use Throttle,2:Use Current
// @User: Advanced
// @Calibration: 1
AP_GROUPINFO("MOTCT", 6, Compass, _motor_comp_type, AP_COMPASS_MOT_COMP_DISABLED),
// @Param: MOT_X
@ -122,6 +126,7 @@ const AP_Param::GroupInfo Compass::var_info[] = { @@ -122,6 +126,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
// @Units: mGauss/A
// @Increment: 1
// @User: Advanced
// @Calibration: 1
// @Param: MOT_Y
// @DisplayName: Motor interference compensation for body frame Y axis
@ -130,6 +135,7 @@ const AP_Param::GroupInfo Compass::var_info[] = { @@ -130,6 +135,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
// @Units: mGauss/A
// @Increment: 1
// @User: Advanced
// @Calibration: 1
// @Param: MOT_Z
// @DisplayName: Motor interference compensation for body frame Z axis
@ -138,6 +144,7 @@ const AP_Param::GroupInfo Compass::var_info[] = { @@ -138,6 +144,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
// @Units: mGauss/A
// @Increment: 1
// @User: Advanced
// @Calibration: 1
AP_GROUPINFO("MOT", 7, Compass, _state[0].motor_compensation, 0),
// @Param: ORIENT
@ -162,6 +169,7 @@ const AP_Param::GroupInfo Compass::var_info[] = { @@ -162,6 +169,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
// @Units: mGauss
// @Increment: 1
// @User: Advanced
// @Calibration: 1
// @Param: OFS2_Y
// @DisplayName: Compass2 offsets in milligauss on the Y axis
@ -170,6 +178,7 @@ const AP_Param::GroupInfo Compass::var_info[] = { @@ -170,6 +178,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
// @Units: mGauss
// @Increment: 1
// @User: Advanced
// @Calibration: 1
// @Param: OFS2_Z
// @DisplayName: Compass2 offsets in milligauss on the Z axis
@ -178,6 +187,7 @@ const AP_Param::GroupInfo Compass::var_info[] = { @@ -178,6 +187,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
// @Units: mGauss
// @Increment: 1
// @User: Advanced
// @Calibration: 1
AP_GROUPINFO("OFS2", 10, Compass, _state[1].offset, 0),
// @Param: MOT2_X
@ -187,6 +197,7 @@ const AP_Param::GroupInfo Compass::var_info[] = { @@ -187,6 +197,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
// @Units: mGauss/A
// @Increment: 1
// @User: Advanced
// @Calibration: 1
// @Param: MOT2_Y
// @DisplayName: Motor interference compensation to compass2 for body frame Y axis
@ -195,6 +206,7 @@ const AP_Param::GroupInfo Compass::var_info[] = { @@ -195,6 +206,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
// @Units: mGauss/A
// @Increment: 1
// @User: Advanced
// @Calibration: 1
// @Param: MOT2_Z
// @DisplayName: Motor interference compensation to compass2 for body frame Z axis
@ -203,6 +215,7 @@ const AP_Param::GroupInfo Compass::var_info[] = { @@ -203,6 +215,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
// @Units: mGauss/A
// @Increment: 1
// @User: Advanced
// @Calibration: 1
AP_GROUPINFO("MOT2", 11, Compass, _state[1].motor_compensation, 0),
// @Param: PRIMARY
@ -221,6 +234,7 @@ const AP_Param::GroupInfo Compass::var_info[] = { @@ -221,6 +234,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
// @Units: mGauss
// @Increment: 1
// @User: Advanced
// @Calibration: 1
// @Param: OFS3_Y
// @DisplayName: Compass3 offsets in milligauss on the Y axis
@ -229,6 +243,7 @@ const AP_Param::GroupInfo Compass::var_info[] = { @@ -229,6 +243,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
// @Units: mGauss
// @Increment: 1
// @User: Advanced
// @Calibration: 1
// @Param: OFS3_Z
// @DisplayName: Compass3 offsets in milligauss on the Z axis
@ -237,6 +252,7 @@ const AP_Param::GroupInfo Compass::var_info[] = { @@ -237,6 +252,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
// @Units: mGauss
// @Increment: 1
// @User: Advanced
// @Calibration: 1
AP_GROUPINFO("OFS3", 13, Compass, _state[2].offset, 0),
// @Param: MOT3_X
@ -246,6 +262,7 @@ const AP_Param::GroupInfo Compass::var_info[] = { @@ -246,6 +262,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
// @Units: mGauss/A
// @Increment: 1
// @User: Advanced
// @Calibration: 1
// @Param: MOT3_Y
// @DisplayName: Motor interference compensation to compass3 for body frame Y axis
@ -254,6 +271,7 @@ const AP_Param::GroupInfo Compass::var_info[] = { @@ -254,6 +271,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
// @Units: mGauss/A
// @Increment: 1
// @User: Advanced
// @Calibration: 1
// @Param: MOT3_Z
// @DisplayName: Motor interference compensation to compass3 for body frame Z axis
@ -262,6 +280,7 @@ const AP_Param::GroupInfo Compass::var_info[] = { @@ -262,6 +280,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
// @Units: mGauss/A
// @Increment: 1
// @User: Advanced
// @Calibration: 1
AP_GROUPINFO("MOT3", 14, Compass, _state[2].motor_compensation, 0),
#endif // HAL_COMPASS_MAX_SENSORS
@ -270,6 +289,7 @@ const AP_Param::GroupInfo Compass::var_info[] = { @@ -270,6 +289,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
// @Description: Compass device id. Automatically detected, do not set manually
// @ReadOnly: True
// @User: Advanced
// @Calibration: 1
AP_GROUPINFO("DEV_ID", 15, Compass, _state[0].dev_id, 0),
#if HAL_COMPASS_MAX_SENSORS > 1
@ -278,6 +298,7 @@ const AP_Param::GroupInfo Compass::var_info[] = { @@ -278,6 +298,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
// @Description: Second compass's device id. Automatically detected, do not set manually
// @ReadOnly: True
// @User: Advanced
// @Calibration: 1
AP_GROUPINFO("DEV_ID2", 16, Compass, _state[1].dev_id, 0),
#endif // HAL_COMPASS_MAX_SENSORS
@ -287,6 +308,7 @@ const AP_Param::GroupInfo Compass::var_info[] = { @@ -287,6 +308,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
// @Description: Third compass's device id. Automatically detected, do not set manually
// @ReadOnly: True
// @User: Advanced
// @Calibration: 1
AP_GROUPINFO("DEV_ID3", 17, Compass, _state[2].dev_id, 0),
#endif // HAL_COMPASS_MAX_SENSORS
@ -340,32 +362,38 @@ const AP_Param::GroupInfo Compass::var_info[] = { @@ -340,32 +362,38 @@ const AP_Param::GroupInfo Compass::var_info[] = {
// @DisplayName: Compass soft-iron diagonal X component
// @Description: DIA_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
// @User: Advanced
// @Calibration: 1
// @Param: DIA_Y
// @DisplayName: Compass soft-iron diagonal Y component
// @Description: DIA_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
// @User: Advanced
// @Calibration: 1
// @Param: DIA_Z
// @DisplayName: Compass soft-iron diagonal Z component
// @Description: DIA_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
// @User: Advanced
// @Calibration: 1
AP_GROUPINFO("DIA", 24, Compass, _state[0].diagonals, 0),
// @Param: ODI_X
// @DisplayName: Compass soft-iron off-diagonal X component
// @Description: ODI_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
// @User: Advanced
// @Calibration: 1
// @Param: ODI_Y
// @DisplayName: Compass soft-iron off-diagonal Y component
// @Description: ODI_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
// @User: Advanced
// @Calibration: 1
// @Param: ODI_Z
// @DisplayName: Compass soft-iron off-diagonal Z component
// @Description: ODI_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
// @User: Advanced
// @Calibration: 1
AP_GROUPINFO("ODI", 25, Compass, _state[0].offdiagonals, 0),
#if HAL_COMPASS_MAX_SENSORS > 1
@ -373,32 +401,38 @@ const AP_Param::GroupInfo Compass::var_info[] = { @@ -373,32 +401,38 @@ const AP_Param::GroupInfo Compass::var_info[] = {
// @DisplayName: Compass2 soft-iron diagonal X component
// @Description: DIA_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
// @User: Advanced
// @Calibration: 1
// @Param: DIA2_Y
// @DisplayName: Compass2 soft-iron diagonal Y component
// @Description: DIA_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
// @User: Advanced
// @Calibration: 1
// @Param: DIA2_Z
// @DisplayName: Compass2 soft-iron diagonal Z component
// @Description: DIA_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
// @User: Advanced
// @Calibration: 1
AP_GROUPINFO("DIA2", 26, Compass, _state[1].diagonals, 0),
// @Param: ODI2_X
// @DisplayName: Compass2 soft-iron off-diagonal X component
// @Description: ODI_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
// @User: Advanced
// @Calibration: 1
// @Param: ODI2_Y
// @DisplayName: Compass2 soft-iron off-diagonal Y component
// @Description: ODI_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
// @User: Advanced
// @Calibration: 1
// @Param: ODI2_Z
// @DisplayName: Compass2 soft-iron off-diagonal Z component
// @Description: ODI_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
// @User: Advanced
// @Calibration: 1
AP_GROUPINFO("ODI2", 27, Compass, _state[1].offdiagonals, 0),
#endif // HAL_COMPASS_MAX_SENSORS
@ -407,32 +441,38 @@ const AP_Param::GroupInfo Compass::var_info[] = { @@ -407,32 +441,38 @@ const AP_Param::GroupInfo Compass::var_info[] = {
// @DisplayName: Compass3 soft-iron diagonal X component
// @Description: DIA_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
// @User: Advanced
// @Calibration: 1
// @Param: DIA3_Y
// @DisplayName: Compass3 soft-iron diagonal Y component
// @Description: DIA_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
// @User: Advanced
// @Calibration: 1
// @Param: DIA3_Z
// @DisplayName: Compass3 soft-iron diagonal Z component
// @Description: DIA_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
// @User: Advanced
// @Calibration: 1
AP_GROUPINFO("DIA3", 28, Compass, _state[2].diagonals, 0),
// @Param: ODI3_X
// @DisplayName: Compass3 soft-iron off-diagonal X component
// @Description: ODI_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
// @User: Advanced
// @Calibration: 1
// @Param: ODI3_Y
// @DisplayName: Compass3 soft-iron off-diagonal Y component
// @Description: ODI_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
// @User: Advanced
// @Calibration: 1
// @Param: ODI3_Z
// @DisplayName: Compass3 soft-iron off-diagonal Z component
// @Description: ODI_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
// @User: Advanced
// @Calibration: 1
AP_GROUPINFO("ODI3", 29, Compass, _state[2].offdiagonals, 0),
#endif // HAL_COMPASS_MAX_SENSORS

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