From 9ee140cbbf13e15a049660d1c0b66ee71692c89f Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sat, 4 Dec 2021 15:22:57 +1100 Subject: [PATCH] Tools: revert compass parameter changes --- Tools/AP_Periph/Parameters.cpp | 4 +- Tools/LogAnalyzer/tests/TestCompass.py | 6 +- Tools/Replay/Replay.cpp | 4 +- Tools/autotest/arducopter.py | 6 +- Tools/autotest/common.py | 261 ++++++++++-------- Tools/autotest/default_params/blimp.parm | 18 +- .../default_params/copter-AVC2013.parm | 18 +- .../autotest/default_params/copter-heli.parm | 18 +- .../default_params/copter-single.parm | 18 +- Tools/autotest/default_params/copter.parm | 18 +- Tools/autotest/default_params/firefly.parm | 18 +- .../default_params/quadplane-cl84.parm | 18 +- .../default_params/quadplane-tilttri.parm | 18 +- .../default_params/quadplane-tilttrivec.parm | 18 +- .../default_params/quadplane-tri.parm | 18 +- Tools/autotest/default_params/quadplane.parm | 18 +- Tools/autotest/default_params/sub-6dof.parm | 18 +- Tools/autotest/default_params/sub.parm | 18 +- .../default_params/vee-gull 005.param | 59 +++- 19 files changed, 319 insertions(+), 255 deletions(-) diff --git a/Tools/AP_Periph/Parameters.cpp b/Tools/AP_Periph/Parameters.cpp index d439f0a9a0..8e85ab0348 100644 --- a/Tools/AP_Periph/Parameters.cpp +++ b/Tools/AP_Periph/Parameters.cpp @@ -181,9 +181,9 @@ const AP_Param::Info AP_Periph_FW::var_info[] = { #endif #ifdef HAL_PERIPH_ENABLE_MAG - // @Group: COMPASS + // @Group: COMPASS_ // @Path: ../libraries/AP_Compass/AP_Compass.cpp - GOBJECT(compass, "COMPASS", Compass), + GOBJECT(compass, "COMPASS_", Compass), #endif #ifdef HAL_PERIPH_ENABLE_BARO diff --git a/Tools/LogAnalyzer/tests/TestCompass.py b/Tools/LogAnalyzer/tests/TestCompass.py index 375f90ed80..8fc9fb513c 100644 --- a/Tools/LogAnalyzer/tests/TestCompass.py +++ b/Tools/LogAnalyzer/tests/TestCompass.py @@ -30,9 +30,9 @@ class TestCompass(Test): warnOffset = 300 failOffset = 500 param_offsets = ( - logdata.parameters["COMPASS1_OFS_X"], - logdata.parameters["COMPASS1_OFS_Y"], - logdata.parameters["COMPASS1_OFS_Z"] + logdata.parameters["COMPASS_OFS_X"], + logdata.parameters["COMPASS_OFS_Y"], + logdata.parameters["COMPASS_OFS_Z"] ) if vec_len(param_offsets) > failOffset: diff --git a/Tools/Replay/Replay.cpp b/Tools/Replay/Replay.cpp index dec8902323..5c23b3eddd 100644 --- a/Tools/Replay/Replay.cpp +++ b/Tools/Replay/Replay.cpp @@ -66,9 +66,9 @@ const AP_Param::Info ReplayVehicle::var_info[] = { // @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp GOBJECTN(ekf2, NavEKF2, "EK2_", NavEKF2), - // @Group: COMPASS + // @Group: COMPASS_ // @Path: ../libraries/AP_Compass/AP_Compass.cpp - GOBJECT(compass, "COMPASS", Compass), + GOBJECT(compass, "COMPASS_", Compass), // @Group: LOG // @Path: ../libraries/AP_Logger/AP_Logger.cpp diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py index 472594d188..52092c1060 100644 --- a/Tools/autotest/arducopter.py +++ b/Tools/autotest/arducopter.py @@ -6813,9 +6813,9 @@ class AutoTestCopter(AutoTest): self.start_subtest("missing required yaw source") self.set_parameters({ "EK3_SRC3_YAW": 3, # External Yaw with Compass Fallback - "COMPASS1_USE": 0, - "COMPASS2_USE": 0, - "COMPASS3_USE": 0, + "COMPASS_USE": 0, + "COMPASS_USE2": 0, + "COMPASS_USE3": 0, }) self.assert_prearm_failure("EK3 sources require Compass") self.context_pop() diff --git a/Tools/autotest/common.py b/Tools/autotest/common.py index a34dde4c60..1a42a2d0dd 100644 --- a/Tools/autotest/common.py +++ b/Tools/autotest/common.py @@ -7056,12 +7056,16 @@ Also, ignores heartbeats not from our target system''' 0 # param7 ) self.progress("zeroed mag parameters") - params = [] - for count in range(1, compass_count + 1): + params = [ + [("SIM_MAG_OFS_X", "COMPASS_OFS_X", 0), + ("SIM_MAG_OFS_Y", "COMPASS_OFS_Y", 0), + ("SIM_MAG_OFS_Z", "COMPASS_OFS_Z", 0), ], + ] + for count in range(2, compass_count + 1): params += [ - [("SIM_MAG%d_OFS_X" % count, "COMPASS%d_OFS_X" % count, 0), - ("SIM_MAG%d_OFS_Y" % count, "COMPASS%d_OFS_Y" % count, 0), - ("SIM_MAG%d_OFS_Z" % count, "COMPASS%d_OFS_Z" % count, 0), ], + [("SIM_MAG%d_OFS_X" % count, "COMPASS_OFS%d_X" % count, 0), + ("SIM_MAG%d_OFS_Y" % count, "COMPASS_OFS%d_Y" % count, 0), + ("SIM_MAG%d_OFS_Z" % count, "COMPASS_OFS%d_Z" % count, 0), ], ] self.check_zero_mag_parameters(params) @@ -7069,15 +7073,22 @@ Also, ignores heartbeats not from our target system''' self.progress("Forty twoing Mag DIA and ODI parameters") self.drain_mav() self.get_sim_time() - params = [] - for count in range(1, compass_count + 1): + params = [ + [("SIM_MAG_DIA_X", "COMPASS_DIA_X", 42.0), + ("SIM_MAG_DIA_Y", "COMPASS_DIA_Y", 42.0), + ("SIM_MAG_DIA_Z", "COMPASS_DIA_Z", 42.0), + ("SIM_MAG_ODI_X", "COMPASS_ODI_X", 42.0), + ("SIM_MAG_ODI_Y", "COMPASS_ODI_Y", 42.0), + ("SIM_MAG_ODI_Z", "COMPASS_ODI_Z", 42.0), ], + ] + for count in range(2, compass_count + 1): params += [ - [("SIM_MAG%d_DIA_X" % count, "COMPASS%d_DIA_X" % count, 42.0), - ("SIM_MAG%d_DIA_Y" % count, "COMPASS%d_DIA_Y" % count, 42.0), - ("SIM_MAG%d_DIA_Z" % count, "COMPASS%d_DIA_Z" % count, 42.0), - ("SIM_MAG%d_ODI_X" % count, "COMPASS%d_ODI_X" % count, 42.0), - ("SIM_MAG%d_ODI_Y" % count, "COMPASS%d_ODI_Y" % count, 42.0), - ("SIM_MAG%d_ODI_Z" % count, "COMPASS%d_ODI_Z" % count, 42.0), ], + [("SIM_MAG%d_DIA_X" % count, "COMPASS_DIA%d_X" % count, 42.0), + ("SIM_MAG%d_DIA_Y" % count, "COMPASS_DIA%d_Y" % count, 42.0), + ("SIM_MAG%d_DIA_Z" % count, "COMPASS_DIA%d_Z" % count, 42.0), + ("SIM_MAG%d_ODI_X" % count, "COMPASS_ODI%d_X" % count, 42.0), + ("SIM_MAG%d_ODI_Y" % count, "COMPASS_ODI%d_Y" % count, 42.0), + ("SIM_MAG%d_ODI_Z" % count, "COMPASS_ODI%d_Z" % count, 42.0), ], ] self.wait_heartbeat() to_set = {} @@ -7113,8 +7124,9 @@ Also, ignores heartbeats not from our target system''' def check_zeros_mag_orient(self, compass_count=3): self.progress("zeroed mag parameters") - for count in range(1, compass_count + 1): - self.verify_parameter_values({"COMPASS%d_ORIENT" % count: 0}) + self.verify_parameter_values({"COMPASS_ORIENT": 0}) + for count in range(2, compass_count + 1): + self.verify_parameter_values({"COMPASS_ORIENT%d" % count: 0}) def test_mag_calibration(self, compass_count=3, timeout=1000): def reset_pos_and_start_magcal(mavproxy, tmask): @@ -7141,27 +7153,27 @@ Also, ignores heartbeats not from our target system''' MAG_DIA = 1.0 MAG_ODI = 0.004 params += [ - [("SIM_MAG_OFS_X", "COMPASS1_OFS_X", MAG_OFS), - ("SIM_MAG_OFS_Y", "COMPASS1_OFS_Y", MAG_OFS + 100), - ("SIM_MAG_OFS_Z", "COMPASS1_OFS_Z", MAG_OFS + 200), - ("SIM_MAG_DIA_X", "COMPASS1_DIA_X", MAG_DIA), - ("SIM_MAG_DIA_Y", "COMPASS1_DIA_Y", MAG_DIA + 0.1), - ("SIM_MAG_DIA_Z", "COMPASS1_DIA_Z", MAG_DIA + 0.2), - ("SIM_MAG_ODI_X", "COMPASS1_ODI_X", MAG_ODI), - ("SIM_MAG_ODI_Y", "COMPASS1_ODI_Y", MAG_ODI + 0.001), - ("SIM_MAG_ODI_Z", "COMPASS1_ODI_Z", MAG_ODI + 0.001), ], + [("SIM_MAG_OFS_X", "COMPASS_OFS_X", MAG_OFS), + ("SIM_MAG_OFS_Y", "COMPASS_OFS_Y", MAG_OFS + 100), + ("SIM_MAG_OFS_Z", "COMPASS_OFS_Z", MAG_OFS + 200), + ("SIM_MAG_DIA_X", "COMPASS_DIA_X", MAG_DIA), + ("SIM_MAG_DIA_Y", "COMPASS_DIA_Y", MAG_DIA + 0.1), + ("SIM_MAG_DIA_Z", "COMPASS_DIA_Z", MAG_DIA + 0.2), + ("SIM_MAG_ODI_X", "COMPASS_ODI_X", MAG_ODI), + ("SIM_MAG_ODI_Y", "COMPASS_ODI_Y", MAG_ODI + 0.001), + ("SIM_MAG_ODI_Z", "COMPASS_ODI_Z", MAG_ODI + 0.001), ], ] for count in range(2, compass_count + 1): params += [ - [("SIM_MAG%d_OFS_X" % count, "COMPASS%d_OFS_X" % count, MAG_OFS + 100 * ((count+2) % compass_count)), - ("SIM_MAG%d_OFS_Y" % count, "COMPASS%d_OFS_Y" % count, MAG_OFS + 100 * ((count+3) % compass_count)), - ("SIM_MAG%d_OFS_Z" % count, "COMPASS%d_OFS_Z" % count, MAG_OFS + 100 * ((count+1) % compass_count)), - ("SIM_MAG%d_DIA_X" % count, "COMPASS%d_DIA_X" % count, MAG_DIA + 0.1 * ((count+2) % compass_count)), - ("SIM_MAG%d_DIA_Y" % count, "COMPASS%d_DIA_Y" % count, MAG_DIA + 0.1 * ((count+3) % compass_count)), - ("SIM_MAG%d_DIA_Z" % count, "COMPASS%d_DIA_Z" % count, MAG_DIA + 0.1 * ((count+1) % compass_count)), - ("SIM_MAG%d_ODI_X" % count, "COMPASS%d_ODI_X" % count, MAG_ODI + 0.001 * ((count+2) % compass_count)), - ("SIM_MAG%d_ODI_Y" % count, "COMPASS%d_ODI_Y" % count, MAG_ODI + 0.001 * ((count+3) % compass_count)), - ("SIM_MAG%d_ODI_Z" % count, "COMPASS%d_ODI_Z" % count, MAG_ODI + 0.001 * ((count+1) % compass_count)), ], + [("SIM_MAG%d_OFS_X" % count, "COMPASS_OFS%d_X" % count, MAG_OFS + 100 * ((count+2) % compass_count)), + ("SIM_MAG%d_OFS_Y" % count, "COMPASS_OFS%d_Y" % count, MAG_OFS + 100 * ((count+3) % compass_count)), + ("SIM_MAG%d_OFS_Z" % count, "COMPASS_OFS%d_Z" % count, MAG_OFS + 100 * ((count+1) % compass_count)), + ("SIM_MAG%d_DIA_X" % count, "COMPASS_DIA%d_X" % count, MAG_DIA + 0.1 * ((count+2) % compass_count)), + ("SIM_MAG%d_DIA_Y" % count, "COMPASS_DIA%d_Y" % count, MAG_DIA + 0.1 * ((count+3) % compass_count)), + ("SIM_MAG%d_DIA_Z" % count, "COMPASS_DIA%d_Z" % count, MAG_DIA + 0.1 * ((count+1) % compass_count)), + ("SIM_MAG%d_ODI_X" % count, "COMPASS_ODI%d_X" % count, MAG_ODI + 0.001 * ((count+2) % compass_count)), + ("SIM_MAG%d_ODI_Y" % count, "COMPASS_ODI%d_Y" % count, MAG_ODI + 0.001 * ((count+3) % compass_count)), + ("SIM_MAG%d_ODI_Z" % count, "COMPASS_ODI%d_Z" % count, MAG_ODI + 0.001 * ((count+1) % compass_count)), ], ] self.progress("Setting calibration mode") self.wait_heartbeat() @@ -7185,7 +7197,7 @@ Also, ignores heartbeats not from our target system''' # for count in range(2, compass_count + 1): # self.set_parameter("SIM_MAG%d_ORIENT" % count, MAG_ORIENT * (count % 41)) # # set compass external to check that orientation is found and auto set - # self.set_parameter("COMPASS%d_EXTERN" % count, 1) + # self.set_parameter("COMPASS_EXTERN%d" % count, 1) to_set = {} for param_set in params: for param in param_set: @@ -7199,8 +7211,9 @@ Also, ignores heartbeats not from our target system''' # Change the default value to unexpected 42 self.forty_two_mag_dia_odi_parameters() self.progress("Zeroing Mags orientations") - for count in range(1, compass_count + 1): - self.set_parameter("COMPASS%d_ORIENT" % count, 0) + self.set_parameter("COMPASS_ORIENT", 0) + for count in range(2, compass_count + 1): + self.set_parameter("COMPASS_ORIENT%d" % count, 0) # Only care about compass prearm self.set_parameter("ARMING_CHECK", 4) @@ -7368,9 +7381,9 @@ Also, ignores heartbeats not from our target system''' timeout=20, ) self.check_mag_parameters(params, compass_tnumber) - self.verify_parameter_values({"COMPASS1_ORIENT": self.get_parameter("SIM_MAG_ORIENT")}) + self.verify_parameter_values({"COMPASS_ORIENT": self.get_parameter("SIM_MAG_ORIENT")}) for count in range(2, compass_tnumber + 1): - self.verify_parameter_values({"COMPASS%d_ORIENT" % count: self.get_parameter("SIM_MAG%d_ORIENT" % count)}) + self.verify_parameter_values({"COMPASS_ORIENT%d" % count: self.get_parameter("SIM_MAG%d_ORIENT" % count)}) self.try_arm(False, "Compass calibrated requires reboot") # test buzzer/notify ? @@ -7385,7 +7398,7 @@ Also, ignores heartbeats not from our target system''' (_in, _out, value) = param self.set_parameter(_out, value) for count in range(compass_tnumber + 1, compass_count + 1): - self.set_parameter("COMPASS%d_ORIENT" % count, self.get_parameter("SIM_MAG%d_ORIENT" % count)) + self.set_parameter("COMPASS_ORIENT%d" % count, self.get_parameter("SIM_MAG%d_ORIENT" % count)) self.arm_vehicle() self.progress("Test calibration rejection when armed") self.run_cmd(mavutil.mavlink.MAV_CMD_DO_START_MAG_CAL, @@ -7454,25 +7467,35 @@ Also, ignores heartbeats not from our target system''' parameter_mappings[key] = key for (old_compass_num, new_compass_num) in transforms: old_key_compass_bit = str(old_compass_num) + if old_key_compass_bit == "1": + old_key_compass_bit = "" new_key_compass_bit = str(new_compass_num) + if new_key_compass_bit == "1": + new_key_compass_bit = "" # vectors first: for key_vector_bit in ["OFS", "DIA", "ODI", "MOT"]: for axis in "X", "Y", "Z": - old_key = "COMPASS%s_%s_%s" % (old_key_compass_bit, - key_vector_bit, + old_key = "COMPASS_%s%s_%s" % (key_vector_bit, + old_key_compass_bit, axis) - new_key = "COMPASS%s_%s_%s" % (new_key_compass_bit, - key_vector_bit, + new_key = "COMPASS_%s%s_%s" % (key_vector_bit, + new_key_compass_bit, axis) parameter_mappings[old_key] = new_key # then non-vectorey bits: for key_bit in "SCALE", "ORIENT": - old_key = "COMPASS%s_%s" % (old_key_compass_bit, key_bit) - new_key = "COMPASS%s_%s" % (new_key_compass_bit, key_bit) + old_key = "COMPASS_%s%s" % (key_bit, old_key_compass_bit) + new_key = "COMPASS_%s%s" % (key_bit, new_key_compass_bit) parameter_mappings[old_key] = new_key # then a sore thumb: - old_key = "COMPASS%s_EXTERN" % old_key_compass_bit - new_key = "COMPASS%s_EXTERN" % new_key_compass_bit + if old_key_compass_bit == "": + old_key = "COMPASS_EXTERNAL" + else: + old_key = "COMPASS_EXTERN%s" % old_key_compass_bit + if new_key_compass_bit == "": + new_key = "COMPASS_EXTERNAL" + else: + new_key = "COMPASS_EXTERN%s" % new_key_compass_bit parameter_mappings[old_key] = new_key for key in values.keys(): @@ -7488,53 +7511,53 @@ Also, ignores heartbeats not from our target system''' ex = None try: originals = { - "COMPASS1_OFS_X": 1.1, - "COMPASS1_OFS_Y": 1.2, - "COMPASS1_OFS_Z": 1.3, - "COMPASS1_DIA_X": 1.4, - "COMPASS1_DIA_Y": 1.5, - "COMPASS1_DIA_Z": 1.6, - "COMPASS1_ODI_X": 1.7, - "COMPASS1_ODI_Y": 1.8, - "COMPASS1_ODI_Z": 1.9, - "COMPASS1_MOT_X": 1.91, - "COMPASS1_MOT_Y": 1.92, - "COMPASS1_MOT_Z": 1.93, - "COMPASS1_SCALE": 1.94, - "COMPASS1_ORIENT": 1, - "COMPASS1_EXTERN": 2, + "COMPASS_OFS_X": 1.1, + "COMPASS_OFS_Y": 1.2, + "COMPASS_OFS_Z": 1.3, + "COMPASS_DIA_X": 1.4, + "COMPASS_DIA_Y": 1.5, + "COMPASS_DIA_Z": 1.6, + "COMPASS_ODI_X": 1.7, + "COMPASS_ODI_Y": 1.8, + "COMPASS_ODI_Z": 1.9, + "COMPASS_MOT_X": 1.91, + "COMPASS_MOT_Y": 1.92, + "COMPASS_MOT_Z": 1.93, + "COMPASS_SCALE": 1.94, + "COMPASS_ORIENT": 1, + "COMPASS_EXTERNAL": 2, - "COMPASS2_OFS_X": 2.1, - "COMPASS2_OFS_Y": 2.2, - "COMPASS2_OFS_Z": 2.3, - "COMPASS2_DIA_X": 2.4, - "COMPASS2_DIA_Y": 2.5, - "COMPASS2_DIA_Z": 2.6, - "COMPASS2_ODI_X": 2.7, - "COMPASS2_ODI_Y": 2.8, - "COMPASS2_ODI_Z": 2.9, - "COMPASS2_MOT_X": 2.91, - "COMPASS2_MOT_Y": 2.92, - "COMPASS2_MOT_Z": 2.93, - "COMPASS2_SCALE": 2.94, - "COMPASS2_ORIENT": 3, - "COMPASS2_EXTERN": 4, + "COMPASS_OFS2_X": 2.1, + "COMPASS_OFS2_Y": 2.2, + "COMPASS_OFS2_Z": 2.3, + "COMPASS_DIA2_X": 2.4, + "COMPASS_DIA2_Y": 2.5, + "COMPASS_DIA2_Z": 2.6, + "COMPASS_ODI2_X": 2.7, + "COMPASS_ODI2_Y": 2.8, + "COMPASS_ODI2_Z": 2.9, + "COMPASS_MOT2_X": 2.91, + "COMPASS_MOT2_Y": 2.92, + "COMPASS_MOT2_Z": 2.93, + "COMPASS_SCALE2": 2.94, + "COMPASS_ORIENT2": 3, + "COMPASS_EXTERN2": 4, - "COMPASS3_OFS_X": 3.1, - "COMPASS3_OFS_Y": 3.2, - "COMPASS3_OFS_Z": 3.3, - "COMPASS3_DIA_X": 3.4, - "COMPASS3_DIA_Y": 3.5, - "COMPASS3_DIA_Z": 3.6, - "COMPASS3_ODI_X": 3.7, - "COMPASS3_ODI_Y": 3.8, - "COMPASS3_ODI_Z": 3.9, - "COMPASS3_MOT_X": 3.91, - "COMPASS3_MOT_Y": 3.92, - "COMPASS3_MOT_Z": 3.93, - "COMPASS3_SCALE": 3.94, - "COMPASS3_ORIENT": 5, - "COMPASS3_EXTERN": 6, + "COMPASS_OFS3_X": 3.1, + "COMPASS_OFS3_Y": 3.2, + "COMPASS_OFS3_Z": 3.3, + "COMPASS_DIA3_X": 3.4, + "COMPASS_DIA3_Y": 3.5, + "COMPASS_DIA3_Z": 3.6, + "COMPASS_ODI3_X": 3.7, + "COMPASS_ODI3_Y": 3.8, + "COMPASS_ODI3_Z": 3.9, + "COMPASS_MOT3_X": 3.91, + "COMPASS_MOT3_Y": 3.92, + "COMPASS_MOT3_Z": 3.93, + "COMPASS_SCALE3": 3.94, + "COMPASS_ORIENT3": 5, + "COMPASS_EXTERN3": 6, } # quick sanity check to ensure all values are unique: @@ -7593,35 +7616,35 @@ Also, ignores heartbeats not from our target system''' MAG_OFS_Y = 200 MAG_OFS_Z = 300 wanted = { - "COMPASS1_OFS_X": (MAG_OFS_X, 3.0), - "COMPASS1_OFS_Y": (MAG_OFS_Y, 3.0), - "COMPASS1_OFS_Z": (MAG_OFS_Z, 3.0), - "COMPASS1_DIA_X": 1, - "COMPASS1_DIA_Y": 1, - "COMPASS1_DIA_Z": 1, - "COMPASS1_ODI_X": 0, - "COMPASS1_ODI_Y": 0, - "COMPASS1_ODI_Z": 0, + "COMPASS_OFS_X": (MAG_OFS_X, 3.0), + "COMPASS_OFS_Y": (MAG_OFS_Y, 3.0), + "COMPASS_OFS_Z": (MAG_OFS_Z, 3.0), + "COMPASS_DIA_X": 1, + "COMPASS_DIA_Y": 1, + "COMPASS_DIA_Z": 1, + "COMPASS_ODI_X": 0, + "COMPASS_ODI_Y": 0, + "COMPASS_ODI_Z": 0, - "COMPASS2_OFS_X": (MAG_OFS_X, 3.0), - "COMPASS2_OFS_Y": (MAG_OFS_Y, 3.0), - "COMPASS2_OFS_Z": (MAG_OFS_Z, 3.0), - "COMPASS2_DIA_X": 1, - "COMPASS2_DIA_Y": 1, - "COMPASS2_DIA_Z": 1, - "COMPASS2_ODI_X": 0, - "COMPASS2_ODI_Y": 0, - "COMPASS2_ODI_Z": 0, + "COMPASS_OFS2_X": (MAG_OFS_X, 3.0), + "COMPASS_OFS2_Y": (MAG_OFS_Y, 3.0), + "COMPASS_OFS2_Z": (MAG_OFS_Z, 3.0), + "COMPASS_DIA2_X": 1, + "COMPASS_DIA2_Y": 1, + "COMPASS_DIA2_Z": 1, + "COMPASS_ODI2_X": 0, + "COMPASS_ODI2_Y": 0, + "COMPASS_ODI2_Z": 0, - "COMPASS3_OFS_X": (MAG_OFS_X, 3.0), - "COMPASS3_OFS_Y": (MAG_OFS_Y, 3.0), - "COMPASS3_OFS_Z": (MAG_OFS_Z, 3.0), - "COMPASS3_DIA_X": 1, - "COMPASS3_DIA_Y": 1, - "COMPASS3_DIA_Z": 1, - "COMPASS3_ODI_X": 0, - "COMPASS3_ODI_Y": 0, - "COMPASS3_ODI_Z": 0, + "COMPASS_OFS3_X": (MAG_OFS_X, 3.0), + "COMPASS_OFS3_Y": (MAG_OFS_Y, 3.0), + "COMPASS_OFS3_Z": (MAG_OFS_Z, 3.0), + "COMPASS_DIA3_X": 1, + "COMPASS_DIA3_Y": 1, + "COMPASS_DIA3_Z": 1, + "COMPASS_ODI3_X": 0, + "COMPASS_ODI3_Y": 0, + "COMPASS_ODI3_Z": 0, } self.set_parameters({ "SIM_MAG_OFS_X": MAG_OFS_X, diff --git a/Tools/autotest/default_params/blimp.parm b/Tools/autotest/default_params/blimp.parm index 60a3258850..9db8476573 100644 --- a/Tools/autotest/default_params/blimp.parm +++ b/Tools/autotest/default_params/blimp.parm @@ -2,15 +2,15 @@ EK2_ENABLE 1 FRAME_TYPE 0 FS_THR_ENABLE 1 BATT_MONITOR 4 -COMPASS1_OFS_X 5 -COMPASS1_OFS_Y 13 -COMPASS1_OFS_Z -18 -COMPASS2_OFS_X 5 -COMPASS2_OFS_Y 13 -COMPASS2_OFS_Z -18 -COMPASS3_OFS_X 5 -COMPASS3_OFS_Y 13 -COMPASS3_OFS_Z -18 +COMPASS_OFS_X 5 +COMPASS_OFS_Y 13 +COMPASS_OFS_Z -18 +COMPASS_OFS2_X 5 +COMPASS_OFS2_Y 13 +COMPASS_OFS2_Z -18 +COMPASS_OFS3_X 5 +COMPASS_OFS3_Y 13 +COMPASS_OFS3_Z -18 FRAME_CLASS 1 RC1_MAX 2000 RC1_MIN 1000 diff --git a/Tools/autotest/default_params/copter-AVC2013.parm b/Tools/autotest/default_params/copter-AVC2013.parm index 587feb2523..fdf6b54c97 100644 --- a/Tools/autotest/default_params/copter-AVC2013.parm +++ b/Tools/autotest/default_params/copter-AVC2013.parm @@ -6,15 +6,15 @@ FRAME_TYPE 0 BATT_MONITOR 4 FS_THR_ENABLE 1 COMPASS_LEARN 0 -COMPASS1_OFS_X 5 -COMPASS1_OFS_Y 13 -COMPASS1_OFS_Z -18 -COMPASS2_OFS_X 5 -COMPASS2_OFS_Y 13 -COMPASS2_OFS_Z -18 -COMPASS3_OFS_X 5 -COMPASS3_OFS_Y 13 -COMPASS3_OFS_Z -18 +COMPASS_OFS_X 5 +COMPASS_OFS_Y 13 +COMPASS_OFS_Z -18 +COMPASS_OFS2_X 5 +COMPASS_OFS2_Y 13 +COMPASS_OFS2_Z -18 +COMPASS_OFS3_X 5 +COMPASS_OFS3_Y 13 +COMPASS_OFS3_Z -18 RC1_MAX 2000.000000 RC1_MIN 1000.000000 RC1_TRIM 1500.000000 diff --git a/Tools/autotest/default_params/copter-heli.parm b/Tools/autotest/default_params/copter-heli.parm index 55ef0b6b41..3f0fd97afe 100644 --- a/Tools/autotest/default_params/copter-heli.parm +++ b/Tools/autotest/default_params/copter-heli.parm @@ -1,13 +1,13 @@ BATT_MONITOR 4.0000 -COMPASS2_OFS_X 5.0000 -COMPASS2_OFS_Y 13.0000 -COMPASS2_OFS_Z -18.0000 -COMPASS3_OFS_X 1.0000 -COMPASS3_OFS_Y 1.0000 -COMPASS3_OFS_Z 1.0000 -COMPASS1_OFS_X 2.8749 -COMPASS1_OFS_Y -21.8262 -COMPASS1_OFS_Z -21.8422 +COMPASS_OFS2_X 5.0000 +COMPASS_OFS2_Y 13.0000 +COMPASS_OFS2_Z -18.0000 +COMPASS_OFS3_X 1.0000 +COMPASS_OFS3_Y 1.0000 +COMPASS_OFS3_Z 1.0000 +COMPASS_OFS_X 2.8749 +COMPASS_OFS_Y -21.8262 +COMPASS_OFS_Z -21.8422 FLTMODE1 7.0000 FLTMODE2 9.0000 FLTMODE3 6.0000 diff --git a/Tools/autotest/default_params/copter-single.parm b/Tools/autotest/default_params/copter-single.parm index 7b8f06f32b..ada5fc6f18 100644 --- a/Tools/autotest/default_params/copter-single.parm +++ b/Tools/autotest/default_params/copter-single.parm @@ -1,13 +1,13 @@ BATT_MONITOR 4.0000 -COMPASS2_OFS_X 5.0000 -COMPASS2_OFS_Y 13.0000 -COMPASS2_OFS_Z -18.0000 -COMPASS3_OFS_X 1.0000 -COMPASS3_OFS_Y 1.0000 -COMPASS3_OFS_Z 1.0000 -COMPASS1_OFS_X 2.8749 -COMPASS1_OFS_Y -21.8262 -COMPASS1_OFS_Z -21.8422 +COMPASS_OFS2_X 5.0000 +COMPASS_OFS2_Y 13.0000 +COMPASS_OFS2_Z -18.0000 +COMPASS_OFS3_X 1.0000 +COMPASS_OFS3_Y 1.0000 +COMPASS_OFS3_Z 1.0000 +COMPASS_OFS_X 2.8749 +COMPASS_OFS_Y -21.8262 +COMPASS_OFS_Z -21.8422 FLTMODE1 7.0000 FLTMODE2 9.0000 FLTMODE3 6.0000 diff --git a/Tools/autotest/default_params/copter.parm b/Tools/autotest/default_params/copter.parm index 24c52e1d6f..07a8a37666 100644 --- a/Tools/autotest/default_params/copter.parm +++ b/Tools/autotest/default_params/copter.parm @@ -3,15 +3,15 @@ FS_THR_ENABLE 1 ATC_RAT_YAW_P 0.09 ATC_RAT_YAW_I 0.009 BATT_MONITOR 4 -COMPASS1_OFS_X 5 -COMPASS1_OFS_Y 13 -COMPASS1_OFS_Z -18 -COMPASS2_OFS_X 5 -COMPASS2_OFS_Y 13 -COMPASS2_OFS_Z -18 -COMPASS3_OFS_X 5 -COMPASS3_OFS_Y 13 -COMPASS3_OFS_Z -18 +COMPASS_OFS_X 5 +COMPASS_OFS_Y 13 +COMPASS_OFS_Z -18 +COMPASS_OFS2_X 5 +COMPASS_OFS2_Y 13 +COMPASS_OFS2_Z -18 +COMPASS_OFS3_X 5 +COMPASS_OFS3_Y 13 +COMPASS_OFS3_Z -18 FENCE_RADIUS 150 FRAME_CLASS 1 RC1_MAX 2000.000000 diff --git a/Tools/autotest/default_params/firefly.parm b/Tools/autotest/default_params/firefly.parm index c4d2ce6669..01f95bfb3c 100644 --- a/Tools/autotest/default_params/firefly.parm +++ b/Tools/autotest/default_params/firefly.parm @@ -12,15 +12,15 @@ ARSPD_FBW_MAX 35 ARSPD_FBW_MIN 6 ARSPD_USE 1 AUTOTUNE_LEVEL 8 -COMPASS2_OFS_X -0.420265 -COMPASS2_OFS_Y -0.726942 -COMPASS2_OFS_Z 6.665476 -COMPASS3_OFS_X -0.420265 -COMPASS3_OFS_Y -0.726942 -COMPASS3_OFS_Z 6.665476 -COMPASS1_OFS_X -0.453570 -COMPASS1_OFS_Y -0.585846 -COMPASS1_OFS_Z 6.815743 +COMPASS_OFS2_X -0.420265 +COMPASS_OFS2_Y -0.726942 +COMPASS_OFS2_Z 6.665476 +COMPASS_OFS3_X -0.420265 +COMPASS_OFS3_Y -0.726942 +COMPASS_OFS3_Z 6.665476 +COMPASS_OFS_X -0.453570 +COMPASS_OFS_Y -0.585846 +COMPASS_OFS_Z 6.815743 EK2_ENABLE 1 EK2_IMU_MASK 3 FBWB_CLIMB_RATE 10 diff --git a/Tools/autotest/default_params/quadplane-cl84.parm b/Tools/autotest/default_params/quadplane-cl84.parm index 230b9759c7..9d988cd89e 100644 --- a/Tools/autotest/default_params/quadplane-cl84.parm +++ b/Tools/autotest/default_params/quadplane-cl84.parm @@ -3,15 +3,15 @@ ARSPD_TYPE 0 ARSPD_FBW_MAX 35 ARSPD_FBW_MIN 6 AUTOTUNE_LEVEL 8 -COMPASS2_OFS_X -0.420265 -COMPASS2_OFS_Y -0.726942 -COMPASS2_OFS_Z 6.665476 -COMPASS3_OFS_X -0.420265 -COMPASS3_OFS_Y -0.726942 -COMPASS3_OFS_Z 6.665476 -COMPASS1_OFS_X -0.453570 -COMPASS1_OFS_Y -0.585846 -COMPASS1_OFS_Z 6.815743 +COMPASS_OFS2_X -0.420265 +COMPASS_OFS2_Y -0.726942 +COMPASS_OFS2_Z 6.665476 +COMPASS_OFS3_X -0.420265 +COMPASS_OFS3_Y -0.726942 +COMPASS_OFS3_Z 6.665476 +COMPASS_OFS_X -0.453570 +COMPASS_OFS_Y -0.585846 +COMPASS_OFS_Z 6.815743 FBWB_CLIMB_RATE 10 FLTMODE1 10 FLTMODE2 11 diff --git a/Tools/autotest/default_params/quadplane-tilttri.parm b/Tools/autotest/default_params/quadplane-tilttri.parm index 2b8998c60a..05fdeb052d 100644 --- a/Tools/autotest/default_params/quadplane-tilttri.parm +++ b/Tools/autotest/default_params/quadplane-tilttri.parm @@ -4,15 +4,15 @@ ARSPD_FBW_MAX 35 ARSPD_FBW_MIN 6 ARSPD_USE 1 AUTOTUNE_LEVEL 8 -COMPASS2_OFS_X -0.420265 -COMPASS2_OFS_Y -0.726942 -COMPASS2_OFS_Z 6.665476 -COMPASS3_OFS_X -0.420265 -COMPASS3_OFS_Y -0.726942 -COMPASS3_OFS_Z 6.665476 -COMPASS1_OFS_X -0.453570 -COMPASS1_OFS_Y -0.585846 -COMPASS1_OFS_Z 6.815743 +COMPASS_OFS2_X -0.420265 +COMPASS_OFS2_Y -0.726942 +COMPASS_OFS2_Z 6.665476 +COMPASS_OFS3_X -0.420265 +COMPASS_OFS3_Y -0.726942 +COMPASS_OFS3_Z 6.665476 +COMPASS_OFS_X -0.453570 +COMPASS_OFS_Y -0.585846 +COMPASS_OFS_Z 6.815743 EK2_ENABLE 1 EK2_IMU_MASK 3 FBWB_CLIMB_RATE 10 diff --git a/Tools/autotest/default_params/quadplane-tilttrivec.parm b/Tools/autotest/default_params/quadplane-tilttrivec.parm index 59992b229f..e1d20acab5 100644 --- a/Tools/autotest/default_params/quadplane-tilttrivec.parm +++ b/Tools/autotest/default_params/quadplane-tilttrivec.parm @@ -4,15 +4,15 @@ ARSPD_FBW_MAX 35 ARSPD_FBW_MIN 6 ARSPD_USE 1 AUTOTUNE_LEVEL 8 -COMPASS2_OFS_X -0.420265 -COMPASS2_OFS_Y -0.726942 -COMPASS2_OFS_Z 6.665476 -COMPASS3_OFS_X -0.420265 -COMPASS3_OFS_Y -0.726942 -COMPASS3_OFS_Z 6.665476 -COMPASS1_OFS_X -0.453570 -COMPASS1_OFS_Y -0.585846 -COMPASS1_OFS_Z 6.815743 +COMPASS_OFS2_X -0.420265 +COMPASS_OFS2_Y -0.726942 +COMPASS_OFS2_Z 6.665476 +COMPASS_OFS3_X -0.420265 +COMPASS_OFS3_Y -0.726942 +COMPASS_OFS3_Z 6.665476 +COMPASS_OFS_X -0.453570 +COMPASS_OFS_Y -0.585846 +COMPASS_OFS_Z 6.815743 EK2_ENABLE 1 EK2_IMU_MASK 3 FBWB_CLIMB_RATE 10 diff --git a/Tools/autotest/default_params/quadplane-tri.parm b/Tools/autotest/default_params/quadplane-tri.parm index 43da199dc2..1bec298bb9 100644 --- a/Tools/autotest/default_params/quadplane-tri.parm +++ b/Tools/autotest/default_params/quadplane-tri.parm @@ -4,15 +4,15 @@ ARSPD_FBW_MAX 35 ARSPD_FBW_MIN 13 ARSPD_USE 1 AUTOTUNE_LEVEL 8 -COMPASS2_OFS_X -0.420265 -COMPASS2_OFS_Y -0.726942 -COMPASS2_OFS_Z 6.665476 -COMPASS3_OFS_X -0.420265 -COMPASS3_OFS_Y -0.726942 -COMPASS3_OFS_Z 6.665476 -COMPASS1_OFS_X -0.453570 -COMPASS1_OFS_Y -0.585846 -COMPASS1_OFS_Z 6.815743 +COMPASS_OFS2_X -0.420265 +COMPASS_OFS2_Y -0.726942 +COMPASS_OFS2_Z 6.665476 +COMPASS_OFS3_X -0.420265 +COMPASS_OFS3_Y -0.726942 +COMPASS_OFS3_Z 6.665476 +COMPASS_OFS_X -0.453570 +COMPASS_OFS_Y -0.585846 +COMPASS_OFS_Z 6.815743 EK2_ENABLE 1 EK2_IMU_MASK 3 FBWB_CLIMB_RATE 10 diff --git a/Tools/autotest/default_params/quadplane.parm b/Tools/autotest/default_params/quadplane.parm index 913876492f..08bc254b4f 100644 --- a/Tools/autotest/default_params/quadplane.parm +++ b/Tools/autotest/default_params/quadplane.parm @@ -4,15 +4,15 @@ ARSPD_FBW_MAX 35 ARSPD_FBW_MIN 13 ARSPD_USE 1 AUTOTUNE_LEVEL 8 -COMPASS2_OFS_X -0.420265 -COMPASS2_OFS_Y -0.726942 -COMPASS2_OFS_Z 6.665476 -COMPASS3_OFS_X -0.420265 -COMPASS3_OFS_Y -0.726942 -COMPASS3_OFS3_Z 6.665476 -COMPASS1_OFS_X -0.453570 -COMPASS1_OFS_Y -0.585846 -COMPASS1_OFS_Z 6.815743 +COMPASS_OFS2_X -0.420265 +COMPASS_OFS2_Y -0.726942 +COMPASS_OFS2_Z 6.665476 +COMPASS_OFS3_X -0.420265 +COMPASS_OFS3_Y -0.726942 +COMPASS_OFS3_Z 6.665476 +COMPASS_OFS_X -0.453570 +COMPASS_OFS_Y -0.585846 +COMPASS_OFS_Z 6.815743 EK2_ENABLE 1 EK2_IMU_MASK 3 EK3_ENABLE 1 diff --git a/Tools/autotest/default_params/sub-6dof.parm b/Tools/autotest/default_params/sub-6dof.parm index 63772d1ca1..67c7af365f 100644 --- a/Tools/autotest/default_params/sub-6dof.parm +++ b/Tools/autotest/default_params/sub-6dof.parm @@ -32,15 +32,15 @@ BTN8_FUNCTION 48 BTN8_SFUNCTION 0 BTN9_FUNCTION 23 BTN9_SFUNCTION 0 -COMPASS1_OFS_X 5 -COMPASS1_OFS_Y 13 -COMPASS1_OFS_Z -18 -COMPASS2_OFS_X 5 -COMPASS2_OFS_Y 13 -COMPASS2_OFS_Z -18 -COMPASS3_OFS_X 5 -COMPASS3_OFS_Y 13 -COMPASS3_OFS_Z -18 +COMPASS_OFS_X 5 +COMPASS_OFS_Y 13 +COMPASS_OFS_Z -18 +COMPASS_OFS2_X 5 +COMPASS_OFS2_Y 13 +COMPASS_OFS2_Z -18 +COMPASS_OFS3_X 5 +COMPASS_OFS3_Y 13 +COMPASS_OFS3_Z -18 INS_ACCOFFS_X 0.001 INS_ACCOFFS_Y 0.001 INS_ACCOFFS_Z 0.001 diff --git a/Tools/autotest/default_params/sub.parm b/Tools/autotest/default_params/sub.parm index f6b1c52283..ddb5c84c8d 100644 --- a/Tools/autotest/default_params/sub.parm +++ b/Tools/autotest/default_params/sub.parm @@ -31,15 +31,15 @@ BTN8_FUNCTION 48 BTN8_SFUNCTION 0 BTN9_FUNCTION 23 BTN9_SFUNCTION 0 -COMPASS1_OFS_X 5 -COMPASS1_OFS_Y 13 -COMPASS1_OFS_Z -18 -COMPASS2_OFS_X 5 -COMPASS2_OFS_Y 13 -COMPASS2_OFS_Z -18 -COMPASS3_OFS_X 5 -COMPASS3_OFS_Y 13 -COMPASS3_OFS_Z -18 +COMPASS_OFS_X 5 +COMPASS_OFS_Y 13 +COMPASS_OFS_Z -18 +COMPASS_OFS2_X 5 +COMPASS_OFS2_Y 13 +COMPASS_OFS2_Z -18 +COMPASS_OFS3_X 5 +COMPASS_OFS3_Y 13 +COMPASS_OFS3_Z -18 INS_ACCOFFS_X 0.001 INS_ACCOFFS_Y 0.001 INS_ACCOFFS_Z 0.001 diff --git a/Tools/autotest/default_params/vee-gull 005.param b/Tools/autotest/default_params/vee-gull 005.param index d333f43189..f56d83a9e2 100644 --- a/Tools/autotest/default_params/vee-gull 005.param +++ b/Tools/autotest/default_params/vee-gull 005.param @@ -70,17 +70,58 @@ CHUTE_ENABLED,0 CLI_ENABLED,0 COMPASS_AUTODEC,1 COMPASS_CAL_FIT,16 +COMPASS_DEC,0.2784546 +COMPASS_DEV_ID,0 +COMPASS_DEV_ID2,0 +COMPASS_DEV_ID3,0 +COMPASS_DIA_X,1 +COMPASS_DIA_Y,1 +COMPASS_DIA_Z,1 +COMPASS_DIA2_X,1 +COMPASS_DIA2_Y,1 +COMPASS_DIA2_Z,1 +COMPASS_DIA3_X,0 +COMPASS_DIA3_Y,0 +COMPASS_DIA3_Z,0 +COMPASS_EXTERN2,0 +COMPASS_EXTERN3,0 +COMPASS_EXTERNAL,0 COMPASS_LEARN,1 -COMPASS1_OFS_X,16.29132 -COMPASS1_OFS_Y,4.398034 -COMPASS1_OFS_Z,-36.21775 -COMPASS2_OFS_X,16.29132 -COMPASS2_OFS_Y,4.398034 -COMPASS2_OFS_Z,-36.21775 +COMPASS_MOT_X,0 +COMPASS_MOT_Y,0 +COMPASS_MOT_Z,0 +COMPASS_MOT2_X,0 +COMPASS_MOT2_Y,0 +COMPASS_MOT2_Z,0 +COMPASS_MOT3_X,0 +COMPASS_MOT3_Y,0 +COMPASS_MOT3_Z,0 +COMPASS_MOTCT,0 +COMPASS_ODI_X,0 +COMPASS_ODI_Y,0 +COMPASS_ODI_Z,0 +COMPASS_ODI2_X,0 +COMPASS_ODI2_Y,0 +COMPASS_ODI2_Z,0 +COMPASS_ODI3_X,0 +COMPASS_ODI3_Y,0 +COMPASS_ODI3_Z,0 +COMPASS_OFS_X,16.29132 +COMPASS_OFS_Y,4.398034 +COMPASS_OFS_Z,-36.21775 +COMPASS_OFS2_X,16.29132 +COMPASS_OFS2_Y,4.398034 +COMPASS_OFS2_Z,-36.21775 +COMPASS_OFS3_X,0 +COMPASS_OFS3_Y,0 +COMPASS_OFS3_Z,0 +COMPASS_ORIENT,0 +COMPASS_ORIENT2,0 +COMPASS_ORIENT3,0 COMPASS_PRIMARY,0 -COMPASS1_USE,1 -COMPASS2_USE,1 -COMPASS3_USE,1 +COMPASS_USE,1 +COMPASS_USE2,1 +COMPASS_USE3,1 CRASH_ACC_THRESH,0 CRASH_DETECT,0 DSPOILR_RUD_RATE,100