mirror of https://github.com/ArduPilot/ardupilot
Tools: autotest: common and arducopter: use new compass params
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@ -6813,9 +6813,9 @@ class AutoTestCopter(AutoTest):
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self.start_subtest("missing required yaw source")
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self.set_parameters({
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"EK3_SRC3_YAW": 3, # External Yaw with Compass Fallback
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"COMPASS_USE": 0,
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"COMPASS_USE2": 0,
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"COMPASS_USE3": 0,
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"COMPASS1_USE": 0,
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"COMPASS2_USE": 0,
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"COMPASS3_USE": 0,
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})
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self.assert_prearm_failure("EK3 sources require Compass")
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self.context_pop()
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@ -7036,16 +7036,12 @@ Also, ignores heartbeats not from our target system'''
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0 # param7
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)
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self.progress("zeroed mag parameters")
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params = [
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[("SIM_MAG_OFS_X", "COMPASS_OFS_X", 0),
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("SIM_MAG_OFS_Y", "COMPASS_OFS_Y", 0),
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("SIM_MAG_OFS_Z", "COMPASS_OFS_Z", 0), ],
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]
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for count in range(2, compass_count + 1):
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params = []
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for count in range(1, compass_count + 1):
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params += [
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[("SIM_MAG%d_OFS_X" % count, "COMPASS_OFS%d_X" % count, 0),
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("SIM_MAG%d_OFS_Y" % count, "COMPASS_OFS%d_Y" % count, 0),
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("SIM_MAG%d_OFS_Z" % count, "COMPASS_OFS%d_Z" % count, 0), ],
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[("SIM_MAG%d_OFS_X" % count, "COMPASS%d_OFS_X" % count, 0),
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("SIM_MAG%d_OFS_Y" % count, "COMPASS%d_OFS_Y" % count, 0),
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("SIM_MAG%d_OFS_Z" % count, "COMPASS%d_OFS_Z" % count, 0), ],
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]
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self.check_zero_mag_parameters(params)
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@ -7053,22 +7049,15 @@ Also, ignores heartbeats not from our target system'''
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self.progress("Forty twoing Mag DIA and ODI parameters")
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self.drain_mav()
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self.get_sim_time()
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params = [
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[("SIM_MAG_DIA_X", "COMPASS_DIA_X", 42.0),
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("SIM_MAG_DIA_Y", "COMPASS_DIA_Y", 42.0),
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("SIM_MAG_DIA_Z", "COMPASS_DIA_Z", 42.0),
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("SIM_MAG_ODI_X", "COMPASS_ODI_X", 42.0),
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("SIM_MAG_ODI_Y", "COMPASS_ODI_Y", 42.0),
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("SIM_MAG_ODI_Z", "COMPASS_ODI_Z", 42.0), ],
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]
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for count in range(2, compass_count + 1):
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params = []
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for count in range(1, compass_count + 1):
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params += [
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[("SIM_MAG%d_DIA_X" % count, "COMPASS_DIA%d_X" % count, 42.0),
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("SIM_MAG%d_DIA_Y" % count, "COMPASS_DIA%d_Y" % count, 42.0),
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("SIM_MAG%d_DIA_Z" % count, "COMPASS_DIA%d_Z" % count, 42.0),
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("SIM_MAG%d_ODI_X" % count, "COMPASS_ODI%d_X" % count, 42.0),
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("SIM_MAG%d_ODI_Y" % count, "COMPASS_ODI%d_Y" % count, 42.0),
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("SIM_MAG%d_ODI_Z" % count, "COMPASS_ODI%d_Z" % count, 42.0), ],
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[("SIM_MAG%d_DIA_X" % count, "COMPASS%d_DIA_X" % count, 42.0),
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("SIM_MAG%d_DIA_Y" % count, "COMPASS%d_DIA_Y" % count, 42.0),
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("SIM_MAG%d_DIA_Z" % count, "COMPASS%d_DIA_Z" % count, 42.0),
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("SIM_MAG%d_ODI_X" % count, "COMPASS%d_ODI_X" % count, 42.0),
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("SIM_MAG%d_ODI_Y" % count, "COMPASS%d_ODI_Y" % count, 42.0),
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("SIM_MAG%d_ODI_Z" % count, "COMPASS%d_ODI_Z" % count, 42.0), ],
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]
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self.wait_heartbeat()
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to_set = {}
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@ -7104,9 +7093,8 @@ Also, ignores heartbeats not from our target system'''
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def check_zeros_mag_orient(self, compass_count=3):
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self.progress("zeroed mag parameters")
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self.verify_parameter_values({"COMPASS_ORIENT": 0})
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for count in range(2, compass_count + 1):
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self.verify_parameter_values({"COMPASS_ORIENT%d" % count: 0})
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for count in range(1, compass_count + 1):
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self.verify_parameter_values({"COMPASS%d_ORIENT" % count: 0})
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def test_mag_calibration(self, compass_count=3, timeout=1000):
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def reset_pos_and_start_magcal(mavproxy, tmask):
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@ -7133,27 +7121,27 @@ Also, ignores heartbeats not from our target system'''
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MAG_DIA = 1.0
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MAG_ODI = 0.004
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params += [
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[("SIM_MAG_OFS_X", "COMPASS_OFS_X", MAG_OFS),
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("SIM_MAG_OFS_Y", "COMPASS_OFS_Y", MAG_OFS + 100),
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("SIM_MAG_OFS_Z", "COMPASS_OFS_Z", MAG_OFS + 200),
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("SIM_MAG_DIA_X", "COMPASS_DIA_X", MAG_DIA),
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("SIM_MAG_DIA_Y", "COMPASS_DIA_Y", MAG_DIA + 0.1),
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("SIM_MAG_DIA_Z", "COMPASS_DIA_Z", MAG_DIA + 0.2),
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("SIM_MAG_ODI_X", "COMPASS_ODI_X", MAG_ODI),
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("SIM_MAG_ODI_Y", "COMPASS_ODI_Y", MAG_ODI + 0.001),
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("SIM_MAG_ODI_Z", "COMPASS_ODI_Z", MAG_ODI + 0.001), ],
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[("SIM_MAG_OFS_X", "COMPASS1_OFS_X", MAG_OFS),
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("SIM_MAG_OFS_Y", "COMPASS1_OFS_Y", MAG_OFS + 100),
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("SIM_MAG_OFS_Z", "COMPASS1_OFS_Z", MAG_OFS + 200),
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("SIM_MAG_DIA_X", "COMPASS1_DIA_X", MAG_DIA),
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("SIM_MAG_DIA_Y", "COMPASS1_DIA_Y", MAG_DIA + 0.1),
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("SIM_MAG_DIA_Z", "COMPASS1_DIA_Z", MAG_DIA + 0.2),
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("SIM_MAG_ODI_X", "COMPASS1_ODI_X", MAG_ODI),
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("SIM_MAG_ODI_Y", "COMPASS1_ODI_Y", MAG_ODI + 0.001),
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("SIM_MAG_ODI_Z", "COMPASS1_ODI_Z", MAG_ODI + 0.001), ],
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]
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for count in range(2, compass_count + 1):
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params += [
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[("SIM_MAG%d_OFS_X" % count, "COMPASS_OFS%d_X" % count, MAG_OFS + 100 * ((count+2) % compass_count)),
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("SIM_MAG%d_OFS_Y" % count, "COMPASS_OFS%d_Y" % count, MAG_OFS + 100 * ((count+3) % compass_count)),
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("SIM_MAG%d_OFS_Z" % count, "COMPASS_OFS%d_Z" % count, MAG_OFS + 100 * ((count+1) % compass_count)),
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("SIM_MAG%d_DIA_X" % count, "COMPASS_DIA%d_X" % count, MAG_DIA + 0.1 * ((count+2) % compass_count)),
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("SIM_MAG%d_DIA_Y" % count, "COMPASS_DIA%d_Y" % count, MAG_DIA + 0.1 * ((count+3) % compass_count)),
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("SIM_MAG%d_DIA_Z" % count, "COMPASS_DIA%d_Z" % count, MAG_DIA + 0.1 * ((count+1) % compass_count)),
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("SIM_MAG%d_ODI_X" % count, "COMPASS_ODI%d_X" % count, MAG_ODI + 0.001 * ((count+2) % compass_count)),
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("SIM_MAG%d_ODI_Y" % count, "COMPASS_ODI%d_Y" % count, MAG_ODI + 0.001 * ((count+3) % compass_count)),
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("SIM_MAG%d_ODI_Z" % count, "COMPASS_ODI%d_Z" % count, MAG_ODI + 0.001 * ((count+1) % compass_count)), ],
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[("SIM_MAG%d_OFS_X" % count, "COMPASS%d_OFS_X" % count, MAG_OFS + 100 * ((count+2) % compass_count)),
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("SIM_MAG%d_OFS_Y" % count, "COMPASS%d_OFS_Y" % count, MAG_OFS + 100 * ((count+3) % compass_count)),
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("SIM_MAG%d_OFS_Z" % count, "COMPASS%d_OFS_Z" % count, MAG_OFS + 100 * ((count+1) % compass_count)),
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("SIM_MAG%d_DIA_X" % count, "COMPASS%d_DIA_X" % count, MAG_DIA + 0.1 * ((count+2) % compass_count)),
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("SIM_MAG%d_DIA_Y" % count, "COMPASS%d_DIA_Y" % count, MAG_DIA + 0.1 * ((count+3) % compass_count)),
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("SIM_MAG%d_DIA_Z" % count, "COMPASS%d_DIA_Z" % count, MAG_DIA + 0.1 * ((count+1) % compass_count)),
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("SIM_MAG%d_ODI_X" % count, "COMPASS%d_ODI_X" % count, MAG_ODI + 0.001 * ((count+2) % compass_count)),
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("SIM_MAG%d_ODI_Y" % count, "COMPASS%d_ODI_Y" % count, MAG_ODI + 0.001 * ((count+3) % compass_count)),
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("SIM_MAG%d_ODI_Z" % count, "COMPASS%d_ODI_Z" % count, MAG_ODI + 0.001 * ((count+1) % compass_count)), ],
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]
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self.progress("Setting calibration mode")
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self.wait_heartbeat()
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@ -7177,7 +7165,7 @@ Also, ignores heartbeats not from our target system'''
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# for count in range(2, compass_count + 1):
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# self.set_parameter("SIM_MAG%d_ORIENT" % count, MAG_ORIENT * (count % 41))
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# # set compass external to check that orientation is found and auto set
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# self.set_parameter("COMPASS_EXTERN%d" % count, 1)
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# self.set_parameter("COMPASS%d_EXTERN" % count, 1)
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to_set = {}
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for param_set in params:
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for param in param_set:
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@ -7191,9 +7179,8 @@ Also, ignores heartbeats not from our target system'''
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# Change the default value to unexpected 42
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self.forty_two_mag_dia_odi_parameters()
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self.progress("Zeroing Mags orientations")
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self.set_parameter("COMPASS_ORIENT", 0)
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for count in range(2, compass_count + 1):
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self.set_parameter("COMPASS_ORIENT%d" % count, 0)
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for count in range(1, compass_count + 1):
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self.set_parameter("COMPASS%d_ORIENT" % count, 0)
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# Only care about compass prearm
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self.set_parameter("ARMING_CHECK", 4)
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@ -7361,9 +7348,9 @@ Also, ignores heartbeats not from our target system'''
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timeout=20,
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)
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self.check_mag_parameters(params, compass_tnumber)
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self.verify_parameter_values({"COMPASS_ORIENT": self.get_parameter("SIM_MAG_ORIENT")})
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self.verify_parameter_values({"COMPASS1_ORIENT": self.get_parameter("SIM_MAG_ORIENT")})
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for count in range(2, compass_tnumber + 1):
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self.verify_parameter_values({"COMPASS_ORIENT%d" % count: self.get_parameter("SIM_MAG%d_ORIENT" % count)})
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self.verify_parameter_values({"COMPASS%d_ORIENT" % count: self.get_parameter("SIM_MAG%d_ORIENT" % count)})
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self.try_arm(False, "Compass calibrated requires reboot")
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# test buzzer/notify ?
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@ -7378,7 +7365,7 @@ Also, ignores heartbeats not from our target system'''
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(_in, _out, value) = param
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self.set_parameter(_out, value)
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for count in range(compass_tnumber + 1, compass_count + 1):
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self.set_parameter("COMPASS_ORIENT%d" % count, self.get_parameter("SIM_MAG%d_ORIENT" % count))
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self.set_parameter("COMPASS%d_ORIENT" % count, self.get_parameter("SIM_MAG%d_ORIENT" % count))
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self.arm_vehicle()
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self.progress("Test calibration rejection when armed")
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self.run_cmd(mavutil.mavlink.MAV_CMD_DO_START_MAG_CAL,
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@ -7447,35 +7434,25 @@ Also, ignores heartbeats not from our target system'''
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parameter_mappings[key] = key
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for (old_compass_num, new_compass_num) in transforms:
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old_key_compass_bit = str(old_compass_num)
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if old_key_compass_bit == "1":
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old_key_compass_bit = ""
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new_key_compass_bit = str(new_compass_num)
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if new_key_compass_bit == "1":
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new_key_compass_bit = ""
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# vectors first:
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for key_vector_bit in ["OFS", "DIA", "ODI", "MOT"]:
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for axis in "X", "Y", "Z":
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old_key = "COMPASS_%s%s_%s" % (key_vector_bit,
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old_key_compass_bit,
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old_key = "COMPASS%s_%s_%s" % (old_key_compass_bit,
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key_vector_bit,
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axis)
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new_key = "COMPASS_%s%s_%s" % (key_vector_bit,
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new_key_compass_bit,
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new_key = "COMPASS%s_%s_%s" % (new_key_compass_bit,
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key_vector_bit,
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axis)
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parameter_mappings[old_key] = new_key
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# then non-vectorey bits:
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for key_bit in "SCALE", "ORIENT":
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old_key = "COMPASS_%s%s" % (key_bit, old_key_compass_bit)
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new_key = "COMPASS_%s%s" % (key_bit, new_key_compass_bit)
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old_key = "COMPASS%s_%s" % (old_key_compass_bit, key_bit)
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new_key = "COMPASS%s_%s" % (new_key_compass_bit, key_bit)
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parameter_mappings[old_key] = new_key
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# then a sore thumb:
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if old_key_compass_bit == "":
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old_key = "COMPASS_EXTERNAL"
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else:
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old_key = "COMPASS_EXTERN%s" % old_key_compass_bit
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if new_key_compass_bit == "":
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new_key = "COMPASS_EXTERNAL"
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else:
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new_key = "COMPASS_EXTERN%s" % new_key_compass_bit
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old_key = "COMPASS%s_EXTERN" % old_key_compass_bit
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new_key = "COMPASS%s_EXTERN" % new_key_compass_bit
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parameter_mappings[old_key] = new_key
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for key in values.keys():
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@ -7491,53 +7468,53 @@ Also, ignores heartbeats not from our target system'''
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ex = None
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try:
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originals = {
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"COMPASS_OFS_X": 1.1,
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"COMPASS_OFS_Y": 1.2,
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"COMPASS_OFS_Z": 1.3,
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"COMPASS_DIA_X": 1.4,
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"COMPASS_DIA_Y": 1.5,
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"COMPASS_DIA_Z": 1.6,
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"COMPASS_ODI_X": 1.7,
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"COMPASS_ODI_Y": 1.8,
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"COMPASS_ODI_Z": 1.9,
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"COMPASS_MOT_X": 1.91,
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"COMPASS_MOT_Y": 1.92,
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"COMPASS_MOT_Z": 1.93,
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"COMPASS_SCALE": 1.94,
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"COMPASS_ORIENT": 1,
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"COMPASS_EXTERNAL": 2,
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"COMPASS1_OFS_X": 1.1,
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"COMPASS1_OFS_Y": 1.2,
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"COMPASS1_OFS_Z": 1.3,
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"COMPASS1_DIA_X": 1.4,
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"COMPASS1_DIA_Y": 1.5,
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"COMPASS1_DIA_Z": 1.6,
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"COMPASS1_ODI_X": 1.7,
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"COMPASS1_ODI_Y": 1.8,
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"COMPASS1_ODI_Z": 1.9,
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"COMPASS1_MOT_X": 1.91,
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"COMPASS1_MOT_Y": 1.92,
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"COMPASS1_MOT_Z": 1.93,
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"COMPASS1_SCALE": 1.94,
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"COMPASS1_ORIENT": 1,
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"COMPASS1_EXTERN": 2,
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"COMPASS_OFS2_X": 2.1,
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"COMPASS_OFS2_Y": 2.2,
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"COMPASS_OFS2_Z": 2.3,
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"COMPASS_DIA2_X": 2.4,
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"COMPASS_DIA2_Y": 2.5,
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"COMPASS_DIA2_Z": 2.6,
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"COMPASS_ODI2_X": 2.7,
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"COMPASS_ODI2_Y": 2.8,
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"COMPASS_ODI2_Z": 2.9,
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"COMPASS_MOT2_X": 2.91,
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"COMPASS_MOT2_Y": 2.92,
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"COMPASS_MOT2_Z": 2.93,
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"COMPASS_SCALE2": 2.94,
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"COMPASS_ORIENT2": 3,
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"COMPASS_EXTERN2": 4,
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"COMPASS2_OFS_X": 2.1,
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"COMPASS2_OFS_Y": 2.2,
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"COMPASS2_OFS_Z": 2.3,
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"COMPASS2_DIA_X": 2.4,
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"COMPASS2_DIA_Y": 2.5,
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"COMPASS2_DIA_Z": 2.6,
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"COMPASS2_ODI_X": 2.7,
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"COMPASS2_ODI_Y": 2.8,
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"COMPASS2_ODI_Z": 2.9,
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"COMPASS2_MOT_X": 2.91,
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"COMPASS2_MOT_Y": 2.92,
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"COMPASS2_MOT_Z": 2.93,
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"COMPASS2_SCALE": 2.94,
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"COMPASS2_ORIENT": 3,
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"COMPASS2_EXTERN": 4,
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"COMPASS_OFS3_X": 3.1,
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"COMPASS_OFS3_Y": 3.2,
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"COMPASS_OFS3_Z": 3.3,
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"COMPASS_DIA3_X": 3.4,
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"COMPASS_DIA3_Y": 3.5,
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"COMPASS_DIA3_Z": 3.6,
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"COMPASS_ODI3_X": 3.7,
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"COMPASS_ODI3_Y": 3.8,
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"COMPASS_ODI3_Z": 3.9,
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"COMPASS_MOT3_X": 3.91,
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"COMPASS_MOT3_Y": 3.92,
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"COMPASS_MOT3_Z": 3.93,
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"COMPASS_SCALE3": 3.94,
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"COMPASS_ORIENT3": 5,
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"COMPASS_EXTERN3": 6,
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"COMPASS3_OFS_X": 3.1,
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"COMPASS3_OFS_Y": 3.2,
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"COMPASS3_OFS_Z": 3.3,
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"COMPASS3_DIA_X": 3.4,
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"COMPASS3_DIA_Y": 3.5,
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"COMPASS3_DIA_Z": 3.6,
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"COMPASS3_ODI_X": 3.7,
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"COMPASS3_ODI_Y": 3.8,
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"COMPASS3_ODI_Z": 3.9,
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"COMPASS3_MOT_X": 3.91,
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"COMPASS3_MOT_Y": 3.92,
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"COMPASS3_MOT_Z": 3.93,
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"COMPASS3_SCALE": 3.94,
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"COMPASS3_ORIENT": 5,
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"COMPASS3_EXTERN": 6,
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}
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# quick sanity check to ensure all values are unique:
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@ -7596,35 +7573,35 @@ Also, ignores heartbeats not from our target system'''
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MAG_OFS_Y = 200
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MAG_OFS_Z = 300
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wanted = {
|
||||
"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,
|
||||
"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_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,
|
||||
"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_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,
|
||||
"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,
|
||||
}
|
||||
self.set_parameters({
|
||||
"SIM_MAG_OFS_X": MAG_OFS_X,
|
||||
|
|
Loading…
Reference in New Issue