create temperature_compensation module

- this is a new module for temperature compensation that consolidates the functionality previously handled in the sensors module (calculating runtime thermal corrections) and the events module (online thermal calibration) - by collecting this functionality into a single module we can optionally disable it on systems where it's not used and save some flash (if disabled at build time) or memory (disabled at run time)
2026-05-22 01:12:31 +00:00 · 2020-01-20 21:42:42 -05:00
parent dedb4e8267
commit dc05ceaad2
87 changed files with 978 additions and 739 deletions
--- a/boards/px4/fmu-v5/critmonitor.cmake
+++ b/boards/px4/fmu-v5/critmonitor.cmake
@@ -10,13 +10,11 @@ px4_add_board(
 	IO px4_io-v2_default
 	TESTING
 	UAVCAN_INTERFACES 2
-
 	SERIAL_PORTS
 		GPS1:/dev/ttyS0
 		TEL1:/dev/ttyS1
 		TEL2:/dev/ttyS2
 		TEL4:/dev/ttyS3
-
 	DRIVERS
 		adc
 		barometer # all available barometer drivers
@@ -25,14 +23,15 @@ px4_add_board(
 		camera_trigger
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
+		dshot
 		gps
 		#heater
-		imu/adis16448
-		imu/adis16497
 		#imu # all available imu drivers
+		imu/adis16448
+		imu/adis16477
+		imu/adis16497
 		imu/bmi055
 		imu/mpu6000
-		imu/mpu9250
 		irlock
 		lights/blinkm
 		lights/rgbled
@@ -41,6 +40,7 @@ px4_add_board(
 		magnetometer # all available magnetometer drivers
 		mkblctrl
 		optical_flow # all available optical flow drivers
+		#osd
 		pca9685
 		power_monitor/ina226
 		#protocol_splitter
@@ -56,9 +56,10 @@ px4_add_board(
 		test_ppm
 		tone_alarm
 		uavcan
-
 	MODULES
+		airspeed_selector
 		attitude_estimator_q
+		battery_status
 		camera_feedback
 		commander
 		dataman
@@ -66,7 +67,6 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon
@@ -74,17 +74,17 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
-		mc_rate_control
 		mc_pos_control
+		mc_rate_control
+		#micrortps_bridge
 		navigator
-		battery_status
 		rc_update
+		rover_pos_control
 		sensors
 		sih
+		temperature_compensation
 		vmount
 		vtol_att_control
-		airspeed_selector
-
 	SYSTEMCMDS
 		bl_update
 		config
@@ -113,7 +113,6 @@ px4_add_board(
 		usb_connected
 		ver
 		work_queue
-
 	EXAMPLES
 		bottle_drop # OBC challenge
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
@@ -124,5 +123,4 @@ px4_add_board(
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		uuv_example_app
-
 	)
--- a/boards/px4/fmu-v5/default.cmake
+++ b/boards/px4/fmu-v5/default.cmake
@@ -82,6 +82,7 @@ px4_add_board(
 		rover_pos_control
 		sensors
 		sih
+		temperature_compensation
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
--- a/boards/px4/fmu-v5/fixedwing.cmake
+++ b/boards/px4/fmu-v5/fixedwing.cmake
@@ -59,6 +59,7 @@ px4_add_board(
 		navigator
 		rc_update
 		sensors
+		temperature_compensation
 		vmount
 	SYSTEMCMDS
 		bl_update
--- a/boards/px4/fmu-v5/irqmonitor.cmake
+++ b/boards/px4/fmu-v5/irqmonitor.cmake
@@ -10,13 +10,11 @@ px4_add_board(
 	IO px4_io-v2_default
 	TESTING
 	UAVCAN_INTERFACES 2
-
 	SERIAL_PORTS
 		GPS1:/dev/ttyS0
 		TEL1:/dev/ttyS1
 		TEL2:/dev/ttyS2
 		TEL4:/dev/ttyS3
-
 	DRIVERS
 		adc
 		barometer # all available barometer drivers
@@ -25,14 +23,15 @@ px4_add_board(
 		camera_trigger
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
+		dshot
 		gps
 		#heater
-		imu/adis16448
-		imu/adis16497
 		#imu # all available imu drivers
+		imu/adis16448
+		imu/adis16477
+		imu/adis16497
 		imu/bmi055
 		imu/mpu6000
-		imu/mpu9250
 		irlock
 		lights/blinkm
 		lights/rgbled
@@ -41,6 +40,7 @@ px4_add_board(
 		magnetometer # all available magnetometer drivers
 		mkblctrl
 		optical_flow # all available optical flow drivers
+		#osd
 		pca9685
 		power_monitor/ina226
 		#protocol_splitter
@@ -56,9 +56,10 @@ px4_add_board(
 		test_ppm
 		tone_alarm
 		uavcan
-
 	MODULES
+		airspeed_selector
 		attitude_estimator_q
+		battery_status
 		camera_feedback
 		commander
 		dataman
@@ -66,7 +67,6 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon
@@ -74,17 +74,17 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
-		mc_rate_control
 		mc_pos_control
+		mc_rate_control
+		#micrortps_bridge
 		navigator
-		battery_status
 		rc_update
+		rover_pos_control
 		sensors
 		sih
+		temperature_compensation
 		vmount
 		vtol_att_control
-		airspeed_selector
-
 	SYSTEMCMDS
 		bl_update
 		config
@@ -113,7 +113,6 @@ px4_add_board(
 		usb_connected
 		ver
 		work_queue
-
 	EXAMPLES
 		bottle_drop # OBC challenge
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
@@ -124,5 +123,4 @@ px4_add_board(
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		uuv_example_app
-
 	)
--- a/boards/px4/fmu-v5/multicopter.cmake
+++ b/boards/px4/fmu-v5/multicopter.cmake
@@ -69,6 +69,7 @@ px4_add_board(
 		rc_update
 		sensors
 		sih
+		temperature_compensation
 		vmount
 	SYSTEMCMDS
 		bl_update
--- a/boards/px4/fmu-v5/rover.cmake
+++ b/boards/px4/fmu-v5/rover.cmake
@@ -59,6 +59,7 @@ px4_add_board(
 		rc_update
 		rover_pos_control
 		sensors
+		temperature_compensation
 		vmount
 	SYSTEMCMDS
 		bl_update
--- a/boards/px4/fmu-v5/rtps.cmake
+++ b/boards/px4/fmu-v5/rtps.cmake
@@ -82,6 +82,7 @@ px4_add_board(
 		rover_pos_control
 		sensors
 		sih
+		temperature_compensation
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
--- a/boards/px4/fmu-v5/stackcheck.cmake
+++ b/boards/px4/fmu-v5/stackcheck.cmake
@@ -83,6 +83,7 @@ px4_add_board(
 		rover_pos_control
 		sensors
 		sih
+		temperature_compensation
 		vmount
 		vtol_att_control
 	SYSTEMCMDS