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HAL_ChibiOS: save INS_ACC*ID persistent parameters

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this enables full factory accelerometer calibration, so the user is
not required to run an accelcal, even if they change vehicle type
This commit is contained in:
Andrew Tridgell 2021-01-22 07:14:33 +11:00
parent bdb364d461
commit 9861a02c60
1 changed files with 37 additions and 3 deletions
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40
libraries/AP_HAL_ChibiOS/Util.cpp
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@ -435,20 +435,54 @@ void Util::apply_persistent_params(void) const
char *saveptr;
s += strlen(persistent_header);
uint32_t count = 0;
uint32_t errors = 0;
for (char *p = strtok_r(s, "\n", &saveptr);
p; p = strtok_r(nullptr, "\n", &saveptr)) {
char *eq = strchr(p, int('='));
if (eq) {
*eq = 0;
if (AP_Param::set_default_by_name(p, atof(eq+1))) {
const char *pname = p;
const float value = atof(eq+1);
if (AP_Param::set_default_by_name(pname, value)) {
count++;
/*
we now have a special case for INS_ACC*_ID. To
support factory accelerometer calibration we need to
do a save() on the ID parameters if they are not
already in storage. This is needed as
AP_InertialSensor determines if a calibration has
been done by whether the IDs are configured in
storage
*/
if (strncmp(pname, "INS_ACC", 7) == 0 &&
strcmp(pname+strlen(pname)-3, "_ID") == 0) {
enum ap_var_type ptype;
AP_Int32 *ap = (AP_Int32 *)AP_Param::find(pname, &ptype);
if (ap && ptype == AP_PARAM_INT32) {
if (ap->get() != int32_t(value)) {
// the accelerometer ID has changed since
// this persistent data was saved. Stop
// loading persistent parameters as it is
// no longer valid for this board. This
// can happen if the user has set
// parameters to prevent loading of
// specific IMU drivers, or if they have
// setup an external IMU
errors++;
break;
}
if (!ap->configured_in_storage()) {
ap->save();
}
}
}
}
}
}
if (count) {
AP_Param::invalidate_count();
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Loaded %u persistent parameters",
unsigned(count));
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Loaded %u persistent parameters (%u errors)",
unsigned(count), unsigned(errors));
}
}