yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-21 09:22:18 +00:00
Code Issues Packages Projects Releases Wiki Activity

move initial sensor priority to parameters and purge ORB_PRIORITY

Browse Source 
- CAL_ACCx_EN -> CAL_ACCx_PRIO
 - CAL_GYROx_EN -> CAL_GYROx_PRIO
 - CAL_MAGx_EN -> CAL_MAGx_PRIO
This commit is contained in:
Daniel Agar
2020-08-16 22:21:04 -04:00
parent 971b1e4b4d
commit 27f23ac290
124 changed files with 463 additions and 509 deletions
Download Patch File Download Diff File Expand all files Collapse all files

23
src/lib/sensor_calibration/Accelerometer.cpp
View File

@@ -118,9 +118,15 @@ void Accelerometer::ParametersUpdate()
_rotation.setIdentity();
}
// CAL_ACCx_EN
int32_t enabled = GetCalibrationParam(SensorString(), "EN", _calibration_index);
_enabled = (enabled == 1);
// CAL_ACCx_PRIO
_priority = GetCalibrationParam(SensorString(), "PRIO", _calibration_index);
if (_priority < 0 || _priority > 100) {
// reset to default
PX4_ERR("%s %d invalid priority %d, resetting to %d", SensorString(), _calibration_index, _priority, DEFAULT_PRIORITY);
SetCalibrationParam(SensorString(), "PRIO", _calibration_index, DEFAULT_PRIORITY);
_priority = DEFAULT_PRIORITY;
}
// CAL_ACCx_OFF{X,Y,Z}
_offset = GetCalibrationParamsVector3f(SensorString(), "OFF", _calibration_index);
@@ -140,7 +146,7 @@ void Accelerometer::Reset()
_scale = Vector3f{1.f, 1.f, 1.f};
_thermal_offset.zero();
_enabled = true;
_priority = _external ? DEFAULT_EXTERNAL_PRIORITY : DEFAULT_PRIORITY;
_calibration_index = -1;
}
@@ -150,10 +156,17 @@ bool Accelerometer::ParametersSave()
if (_calibration_index >= 0) {
// save calibration
SetCalibrationParam(SensorString(), "ID", _calibration_index, _device_id);
SetCalibrationParam(SensorString(), "EN", _calibration_index, _enabled ? 1 : 0);
SetCalibrationParam(SensorString(), "PRIO", _calibration_index, _priority);
SetCalibrationParamsVector3f(SensorString(), "OFF", _calibration_index, _offset);
SetCalibrationParamsVector3f(SensorString(), "SCALE", _calibration_index, _scale);
// if (_external) {
// SetCalibrationParam(SensorString(), "ROT", _calibration_index, (int32_t)_rotation_enum);
// } else {
// SetCalibrationParam(SensorString(), "ROT", _calibration_index, -1);
// }
return true;
}