From dc58b0b9509e0c2b6ba4ecbb47f79cb430a15a37 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 17 Jan 2021 09:26:09 +1100
Subject: [PATCH] AP_InertialSensor: changes from review feedback

thanks Sid!
---
 .../AP_InertialSensor/AP_InertialSensor.cpp   | 24 +++++++++----------
 .../AP_InertialSensor_tempcal.cpp             | 13 +++++-----
 2 files changed, 19 insertions(+), 18 deletions(-)

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
index fae39e45cf..ba6c87949f 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -570,56 +570,56 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
     AP_SUBGROUPINFO(tcal[2], "TCAL3_", 45, AP_InertialSensor, AP_InertialSensor::TCal),
 #endif
 
-    // @Param: ACC_CALTEMP1
+    // @Param: ACC1_CALTEMP
     // @DisplayName: Calibration temperature for 1st accelerometer
     // @Description: Temperature that the 1st accelerometer was calibrated at
     // @User: Advanced
     // @Units: degC
     // @Calibration: 1
-    AP_GROUPINFO("ACC_CALTEMP1", 46, AP_InertialSensor, caltemp_accel[0], -100),
+    AP_GROUPINFO("ACC1_CALTEMP", 46, AP_InertialSensor, caltemp_accel[0], -100),
 
-    // @Param: GYR_CALTEMP1
+    // @Param: GYR1_CALTEMP
     // @DisplayName: Calibration temperature for 1st gyroscope
     // @Description: Temperature that the 1st gyroscope was calibrated at
     // @User: Advanced
     // @Units: degC
     // @Calibration: 1
-    AP_GROUPINFO("GYR_CALTEMP1", 47, AP_InertialSensor, caltemp_gyro[0], -100),
+    AP_GROUPINFO("GYR1_CALTEMP", 47, AP_InertialSensor, caltemp_gyro[0], -100),
 
 #if INS_MAX_INSTANCES > 1
-    // @Param: ACC_CALTEMP2
+    // @Param: ACC2_CALTEMP
     // @DisplayName: Calibration temperature for 2nd accelerometer
     // @Description: Temperature that the 2nd accelerometer was calibrated at
     // @User: Advanced
     // @Units: degC
     // @Calibration: 1
-    AP_GROUPINFO("ACC_CALTEMP2", 48, AP_InertialSensor, caltemp_accel[1], -100),
+    AP_GROUPINFO("ACC2_CALTEMP", 48, AP_InertialSensor, caltemp_accel[1], -100),
 
-    // @Param: GYR_CALTEMP2
+    // @Param: GYR2_CALTEMP
     // @DisplayName: Calibration temperature for 2nd gyroscope
     // @Description: Temperature that the 2nd gyroscope was calibrated at
     // @User: Advanced
     // @Units: degC
     // @Calibration: 1
-    AP_GROUPINFO("GYR_CALTEMP2", 49, AP_InertialSensor, caltemp_gyro[1], -100),
+    AP_GROUPINFO("GYR2_CALTEMP", 49, AP_InertialSensor, caltemp_gyro[1], -100),
 #endif
 
 #if INS_MAX_INSTANCES > 2
-    // @Param: ACC_CALTEMP3
+    // @Param: ACC3_CALTEMP
     // @DisplayName: Calibration temperature for 3rd accelerometer
     // @Description: Temperature that the 3rd accelerometer was calibrated at
     // @User: Advanced
     // @Units: degC
     // @Calibration: 1
-    AP_GROUPINFO("ACC_CALTEMP3", 50, AP_InertialSensor, caltemp_accel[2], -100),
+    AP_GROUPINFO("ACC3_CALTEMP", 50, AP_InertialSensor, caltemp_accel[2], -100),
 
-    // @Param: GYR_CALTEMP3
+    // @Param: GYR3_CALTEMP
     // @DisplayName: Calibration temperature for 3rd gyroscope
     // @Description: Temperature that the 3rd gyroscope was calibrated at
     // @User: Advanced
     // @Units: degC
     // @Calibration: 1
-    AP_GROUPINFO("GYR_CALTEMP3", 51, AP_InertialSensor, caltemp_gyro[2], -100),
+    AP_GROUPINFO("GYR3_CALTEMP", 51, AP_InertialSensor, caltemp_gyro[2], -100),
 #endif
 
     // @Param: TCAL_OPTIONS
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_tempcal.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_tempcal.cpp
index b3cab406f3..246ed9ef13 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_tempcal.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_tempcal.cpp
@@ -286,16 +286,17 @@ void AP_InertialSensor::TCal::Learn::add_sample(const Vector3f &sample, float te
     const float tmid = 0.5 * (tcal.temp_max + start_temp);
     const float tdiff = T - tmid;
 
-    AP::logger().Write("TCLR", "TimeUS,I,Si,Temp,TDiff,X,Y,Z",
-                       "s#------",
-                       "F0000000",
-                       "QBBfffff",
+    AP::logger().Write("TCLR", "TimeUS,I,SType,Temp,TDiff,X,Y,Z,NSamp",
+                       "s#-------",
+                       "F0000000-",
+                       "QBBfffffI",
                        AP_HAL::micros64(),
                        instance(),
                        si,
                        T,
                        tdiff,
-                       st.sum.x, st.sum.y, st.sum.z);
+                       st.sum.x, st.sum.y, st.sum.z,
+                       st.sum_count);
     
     
     st.pfit[0].update(tdiff, st.sum.x);
@@ -469,7 +470,7 @@ void AP_InertialSensor::get_persistent_params(ExpandingString &str) const
             str.printf("INS_ACC%sSCAL_X=%f\n", id, ascl.x);
             str.printf("INS_ACC%sSCAL_Y=%f\n", id, ascl.y);
             str.printf("INS_ACC%sSCAL_Z=%f\n", id, ascl.z);
-            str.printf("INS_ACC_CALTEMP%u=%.2f\n", imu, caltemp_accel[i].get());
+            str.printf("INS_ACC%u_CALTEMP=%.2f\n", imu, caltemp_accel[i].get());
         }
     }
     if (uint32_t(tcal_options.get()) & uint32_t(TCalOptions::PERSIST_TEMP_CAL)) {