diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp index fd8899be24..c58f36bbef 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp @@ -34,46 +34,18 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] PROGMEM = { // @Values: 0:Unknown,1:APM1-1280,2:APM1-2560,88:APM2,3:SITL,4:PX4v1,5:PX4v2,256:Flymaple,257:Linux AP_GROUPINFO("PRODUCT_ID", 0, AP_InertialSensor, _product_id, 0), - // @Param: ACCSCAL_X - // @DisplayName: Accelerometer scaling of X axis - // @Description: Accelerometer scaling of X axis. Calculated during acceleration calibration routine - // @Range: 0.8 1.2 - // @User: Advanced + /* + The following parameter indexes and reserved from previous use + as accel offsets and scaling from before the 16g change in the + PX4 backend: - // @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 - - // @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 - AP_GROUPINFO("ACCSCAL", 1, AP_InertialSensor, _accel_scale[0], 0), - - // @Param: ACCOFFS_X - // @DisplayName: Accelerometer offsets of X axis - // @Description: Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations - // @Units: m/s/s - // @Range: -300 300 - // @User: Advanced - - // @Param: ACCOFFS_Y - // @DisplayName: Accelerometer offsets of Y axis - // @Description: Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations - // @Units: m/s/s - // @Range: -300 300 - // @User: Advanced - - // @Param: ACCOFFS_Z - // @DisplayName: Accelerometer offsets of Z axis - // @Description: Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations - // @Units: m/s/s - // @Range: -300 300 - // @User: Advanced - AP_GROUPINFO("ACCOFFS", 2, AP_InertialSensor, _accel_offset[0], 0), + ACCSCAL : 1 + ACCOFFS : 2 + ACC2SCAL : 5 + ACC2OFFS : 6 + ACC3SCAL : 8 + ACC3OFFS : 9 + */ // @Param: GYROFFS_X // @DisplayName: Gyro offsets of X axis @@ -103,47 +75,6 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] PROGMEM = { AP_GROUPINFO("MPU6K_FILTER", 4, AP_InertialSensor, _mpu6000_filter, 0), #if INS_MAX_INSTANCES > 1 - // @Param: ACC2SCAL_X - // @DisplayName: Accelerometer2 scaling of X axis - // @Description: Accelerometer2 scaling of X axis. Calculated during acceleration calibration routine - // @Range: 0.8 1.2 - // @User: Advanced - - // @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 - - // @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 - AP_GROUPINFO("ACC2SCAL", 5, AP_InertialSensor, _accel_scale[1], 0), - - // @Param: ACC2OFFS_X - // @DisplayName: Accelerometer2 offsets of X axis - // @Description: Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations - // @Units: m/s/s - // @Range: -300 300 - // @User: Advanced - - // @Param: ACC2OFFS_Y - // @DisplayName: Accelerometer2 offsets of Y axis - // @Description: Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations - // @Units: m/s/s - // @Range: -300 300 - // @User: Advanced - - // @Param: ACC2OFFS_Z - // @DisplayName: Accelerometer2 offsets of Z axis - // @Description: Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations - // @Units: m/s/s - // @Range: -300 300 - // @User: Advanced - AP_GROUPINFO("ACC2OFFS", 6, AP_InertialSensor, _accel_offset[1], 0), - // @Param: GYR2OFFS_X // @DisplayName: Gyro2 offsets of X axis // @Description: Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations @@ -165,47 +96,6 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] PROGMEM = { #endif #if INS_MAX_INSTANCES > 2 - // @Param: ACC3SCAL_X - // @DisplayName: Accelerometer3 scaling of X axis - // @Description: Accelerometer3 scaling of X axis. Calculated during acceleration calibration routine - // @Range: 0.8 1.2 - // @User: Advanced - - // @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 - - // @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 - AP_GROUPINFO("ACC3SCAL", 8, AP_InertialSensor, _accel_scale[2], 0), - - // @Param: ACC3OFFS_X - // @DisplayName: Accelerometer3 offsets of X axis - // @Description: Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations - // @Units: m/s/s - // @Range: -300 300 - // @User: Advanced - - // @Param: ACC3OFFS_Y - // @DisplayName: Accelerometer3 offsets of Y axis - // @Description: Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations - // @Units: m/s/s - // @Range: -300 300 - // @User: Advanced - - // @Param: ACC3OFFS_Z - // @DisplayName: Accelerometer3 offsets of Z axis - // @Description: Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations - // @Units: m/s/s - // @Range: -300 300 - // @User: Advanced - AP_GROUPINFO("ACC3OFFS", 9, AP_InertialSensor, _accel_offset[2], 0), - // @Param: GYR3OFFS_X // @DisplayName: Gyro3 offsets of X axis // @Description: Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations @@ -233,6 +123,138 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] PROGMEM = { // @User: Advanced AP_GROUPINFO("CALSENSFRAME", 11, AP_InertialSensor, _cal_sensor_frame, 0), + // @Param: ACCSCAL_X + // @DisplayName: Accelerometer scaling of X axis + // @Description: Accelerometer scaling of X axis. Calculated during acceleration calibration routine + // @Range: 0.8 1.2 + // @User: Advanced + + // @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 + + // @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 + AP_GROUPINFO("ACCSCAL", 12, AP_InertialSensor, _accel_scale[0], 0), + + // @Param: ACCOFFS_X + // @DisplayName: Accelerometer offsets of X axis + // @Description: Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations + // @Units: m/s/s + // @Range: -300 300 + // @User: Advanced + + // @Param: ACCOFFS_Y + // @DisplayName: Accelerometer offsets of Y axis + // @Description: Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations + // @Units: m/s/s + // @Range: -300 300 + // @User: Advanced + + // @Param: ACCOFFS_Z + // @DisplayName: Accelerometer offsets of Z axis + // @Description: Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations + // @Units: m/s/s + // @Range: -300 300 + // @User: Advanced + AP_GROUPINFO("ACCOFFS", 13, AP_InertialSensor, _accel_offset[0], 0), + +#if INS_MAX_INSTANCES > 1 + // @Param: ACC2SCAL_X + // @DisplayName: Accelerometer2 scaling of X axis + // @Description: Accelerometer2 scaling of X axis. Calculated during acceleration calibration routine + // @Range: 0.8 1.2 + // @User: Advanced + + // @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 + + // @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 + AP_GROUPINFO("ACC2SCAL", 14, AP_InertialSensor, _accel_scale[1], 0), + + // @Param: ACC2OFFS_X + // @DisplayName: Accelerometer2 offsets of X axis + // @Description: Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations + // @Units: m/s/s + // @Range: -300 300 + // @User: Advanced + + // @Param: ACC2OFFS_Y + // @DisplayName: Accelerometer2 offsets of Y axis + // @Description: Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations + // @Units: m/s/s + // @Range: -300 300 + // @User: Advanced + + // @Param: ACC2OFFS_Z + // @DisplayName: Accelerometer2 offsets of Z axis + // @Description: Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations + // @Units: m/s/s + // @Range: -300 300 + // @User: Advanced + AP_GROUPINFO("ACC2OFFS", 15, AP_InertialSensor, _accel_offset[1], 0), +#endif + +#if INS_MAX_INSTANCES > 2 + // @Param: ACC3SCAL_X + // @DisplayName: Accelerometer3 scaling of X axis + // @Description: Accelerometer3 scaling of X axis. Calculated during acceleration calibration routine + // @Range: 0.8 1.2 + // @User: Advanced + + // @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 + + // @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 + AP_GROUPINFO("ACC3SCAL", 16, AP_InertialSensor, _accel_scale[2], 0), + + // @Param: ACC3OFFS_X + // @DisplayName: Accelerometer3 offsets of X axis + // @Description: Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations + // @Units: m/s/s + // @Range: -300 300 + // @User: Advanced + + // @Param: ACC3OFFS_Y + // @DisplayName: Accelerometer3 offsets of Y axis + // @Description: Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations + // @Units: m/s/s + // @Range: -300 300 + // @User: Advanced + + // @Param: ACC3OFFS_Z + // @DisplayName: Accelerometer3 offsets of Z axis + // @Description: Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations + // @Units: m/s/s + // @Range: -300 300 + // @User: Advanced + AP_GROUPINFO("ACC3OFFS", 17, AP_InertialSensor, _accel_offset[2], 0), +#endif + + /* + NOTE: parameter indexes have gaps above. When adding new + parameters check for conflicts carefully + */ + AP_GROUPEND };