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Thermal Calibration - add parameter required to control max starting temperature

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This commit is contained in:
Paul Riseborough
2017-02-09 22:15:29 +11:00
committed by Lorenz Meier
parent 93a70c2d0b
commit 22c8c59829
9 changed files with 31 additions and 17 deletions
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4
src/modules/events/temperature_calibration/accel.cpp
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@@ -44,8 +44,8 @@
#include <uORB/topics/sensor_accel.h> #include <uORB/topics/sensor_accel.h>
#include <mathlib/mathlib.h> #include <mathlib/mathlib.h>
TemperatureCalibrationAccel::TemperatureCalibrationAccel(float min_temperature_rise, float min_start_temperature) TemperatureCalibrationAccel::TemperatureCalibrationAccel(float min_temperature_rise, float min_start_temperature, float max_start_temperature)
: TemperatureCalibrationCommon(min_temperature_rise, min_start_temperature) : TemperatureCalibrationCommon(min_temperature_rise, min_start_temperature, max_start_temperature)
{ {
//init subscriptions //init subscriptions

2
src/modules/events/temperature_calibration/accel.h
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@@ -39,7 +39,7 @@
class TemperatureCalibrationAccel : public TemperatureCalibrationCommon<3, 3> class TemperatureCalibrationAccel : public TemperatureCalibrationCommon<3, 3>
{ {
public: public:
TemperatureCalibrationAccel(float min_temperature_rise, float min_start_temperature); TemperatureCalibrationAccel(float min_temperature_rise, float min_start_temperature, float max_start_temperature);
virtual ~TemperatureCalibrationAccel(); virtual ~TemperatureCalibrationAccel();
/** /**

4
src/modules/events/temperature_calibration/baro.cpp
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@@ -44,8 +44,8 @@
#include <uORB/topics/sensor_baro.h> #include <uORB/topics/sensor_baro.h>
#include <mathlib/mathlib.h> #include <mathlib/mathlib.h>
TemperatureCalibrationBaro::TemperatureCalibrationBaro(float min_temperature_rise, float min_start_temperature) TemperatureCalibrationBaro::TemperatureCalibrationBaro(float min_temperature_rise, float min_start_temperature, float max_start_temperature)
: TemperatureCalibrationCommon(min_temperature_rise, min_start_temperature) : TemperatureCalibrationCommon(min_temperature_rise, min_start_temperature, max_start_temperature)
{ {
//init subscriptions //init subscriptions

2
src/modules/events/temperature_calibration/baro.h
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@@ -42,7 +42,7 @@
class TemperatureCalibrationBaro : public TemperatureCalibrationCommon<1, POLYFIT_ORDER> class TemperatureCalibrationBaro : public TemperatureCalibrationCommon<1, POLYFIT_ORDER>
{ {
public: public:
TemperatureCalibrationBaro(float min_temperature_rise, float min_start_temperature); TemperatureCalibrationBaro(float min_temperature_rise, float min_start_temperature, float max_start_temperature);
virtual ~TemperatureCalibrationBaro(); virtual ~TemperatureCalibrationBaro();
/** /**

11
src/modules/events/temperature_calibration/common.h
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@@ -53,8 +53,8 @@
class TemperatureCalibrationBase class TemperatureCalibrationBase
{ {
public: public:
TemperatureCalibrationBase(float min_temperature_rise, float min_start_temperature) TemperatureCalibrationBase(float min_temperature_rise, float min_start_temperature, float max_start_temperature)
: _min_temperature_rise(min_temperature_rise), _min_start_temperature(min_start_temperature) {} : _min_temperature_rise(min_temperature_rise), _min_start_temperature(min_start_temperature), _max_start_temperature(max_start_temperature) {}
virtual ~TemperatureCalibrationBase() {} virtual ~TemperatureCalibrationBase() {}
@@ -86,6 +86,7 @@ protected:
float _min_temperature_rise; ///< minimum difference in temperature before the process finishes float _min_temperature_rise; ///< minimum difference in temperature before the process finishes
float _min_start_temperature; ///< minimum temperature before the process starts float _min_start_temperature; ///< minimum temperature before the process starts
float _max_start_temperature; ///< maximum temperature above which the process does not start and an error is declared
}; };
@@ -111,8 +112,8 @@ template <int Dim, int PolyfitOrder>
class TemperatureCalibrationCommon : public TemperatureCalibrationBase class TemperatureCalibrationCommon : public TemperatureCalibrationBase
{ {
public: public:
TemperatureCalibrationCommon(float min_temperature_rise, float min_start_temperature) TemperatureCalibrationCommon(float min_temperature_rise, float min_start_temperature, float max_start_temperature)
: TemperatureCalibrationBase(min_temperature_rise, min_start_temperature) {} : TemperatureCalibrationBase(min_temperature_rise, min_start_temperature, max_start_temperature) {}
virtual ~TemperatureCalibrationCommon() {} virtual ~TemperatureCalibrationCommon() {}
@@ -164,7 +165,7 @@ protected:
/** /**
* update a single sensor instance * update a single sensor instance
* @return 0 when done, 1 not finished yet * @return 0 when done, 1 not finished yet, -1 for an error that requires the test to be repeated
*/ */
virtual int update_sensor_instance(PerSensorData &data, int sensor_sub) = 0; virtual int update_sensor_instance(PerSensorData &data, int sensor_sub) = 0;

4
src/modules/events/temperature_calibration/gyro.cpp
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@@ -43,8 +43,8 @@
#include <uORB/topics/sensor_gyro.h> #include <uORB/topics/sensor_gyro.h>
#include "gyro.h" #include "gyro.h"
TemperatureCalibrationGyro::TemperatureCalibrationGyro(float min_temperature_rise, float min_start_temperature, int gyro_subs[], int num_gyros) TemperatureCalibrationGyro::TemperatureCalibrationGyro(float min_temperature_rise, float min_start_temperature, float max_start_temperature, int gyro_subs[], int num_gyros)
: TemperatureCalibrationCommon(min_temperature_rise, min_start_temperature) : TemperatureCalibrationCommon(min_temperature_rise, min_start_temperature, max_start_temperature)
{ {
for (int i = 0; i < num_gyros; ++i) { for (int i = 0; i < num_gyros; ++i) {
_sensor_subs[i] = gyro_subs[i]; _sensor_subs[i] = gyro_subs[i];

2
src/modules/events/temperature_calibration/gyro.h
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@@ -39,7 +39,7 @@
class TemperatureCalibrationGyro : public TemperatureCalibrationCommon<3, 3> class TemperatureCalibrationGyro : public TemperatureCalibrationCommon<3, 3>
{ {
public: public:
TemperatureCalibrationGyro(float min_temperature_rise, float min_start_temperature, int gyro_subs[], int num_gyros); TemperatureCalibrationGyro(float min_temperature_rise, float min_start_temperature, float max_start_temperature, int gyro_subs[], int num_gyros);
virtual ~TemperatureCalibrationGyro() {} virtual ~TemperatureCalibrationGyro() {}
/** /**

9
src/modules/events/temperature_calibration/task.cpp
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@@ -130,13 +130,16 @@ void TemperatureCalibration::task_main()
int32_t min_start_temp = 5; int32_t min_start_temp = 5;
param_get(param_find("SYS_CAL_TMIN"), &min_start_temp); param_get(param_find("SYS_CAL_TMIN"), &min_start_temp);
int32_t max_start_temp = 10;
param_get(param_find("SYS_CAL_TMAX"), &max_start_temp);
//init calibrators //init calibrators
TemperatureCalibrationBase *calibrators[3]; TemperatureCalibrationBase *calibrators[3];
bool error_reported[3] = {}; bool error_reported[3] = {};
int num_calibrators = 0; int num_calibrators = 0;
if (_accel) { if (_accel) {
calibrators[num_calibrators] = new TemperatureCalibrationAccel(min_temp_rise,min_start_temp); calibrators[num_calibrators] = new TemperatureCalibrationAccel(min_temp_rise, min_start_temp, max_start_temp);
if (calibrators[num_calibrators]) { if (calibrators[num_calibrators]) {
++num_calibrators; ++num_calibrators;
@@ -147,7 +150,7 @@ void TemperatureCalibration::task_main()
} }
if (_baro) { if (_baro) {
calibrators[num_calibrators] = new TemperatureCalibrationBaro(min_temp_rise, min_start_temp); calibrators[num_calibrators] = new TemperatureCalibrationBaro(min_temp_rise, min_start_temp, max_start_temp);
if (calibrators[num_calibrators]) { if (calibrators[num_calibrators]) {
++num_calibrators; ++num_calibrators;
@@ -158,7 +161,7 @@ void TemperatureCalibration::task_main()
} }
if (_gyro) { if (_gyro) {
calibrators[num_calibrators] = new TemperatureCalibrationGyro(min_temp_rise, min_start_temp, gyro_sub, num_gyro); calibrators[num_calibrators] = new TemperatureCalibrationGyro(min_temp_rise, min_start_temp, max_start_temp, gyro_sub, num_gyro);
if (calibrators[num_calibrators]) { if (calibrators[num_calibrators]) {
++num_calibrators; ++num_calibrators;

10
src/modules/systemlib/system_params.c
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@@ -231,3 +231,13 @@ PARAM_DEFINE_INT32(SYS_CAL_TDEL, 24);
* @group System * @group System
*/ */
PARAM_DEFINE_INT32(SYS_CAL_TMIN, 5); PARAM_DEFINE_INT32(SYS_CAL_TMIN, 5);
/**
* Maximum starting temperature for thermal calibration
*
* Temperature calibration will not start if the temperature of any sensor is higher than the value set by SYS_CAL_TMAX.
*
* @unit deg C
* @group System
*/
PARAM_DEFINE_INT32(SYS_CAL_TMAX, 10);