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AP_InertialSensor: cope with INS_MAX_INSTANCES < 3

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This commit is contained in:
Andrew Tridgell 2020-11-07 17:43:06 +11:00
parent bb3b59966f
commit f6c45c3bcd
2 changed files with 45 additions and 1 deletions
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42
libraries/AP_InertialSensor/AP_InertialSensor.cpp
View File

@ -125,7 +125,10 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
// @Units: rad/s
// @User: Advanced
// @Calibration: 1
#if INS_MAX_INSTANCES > 1
AP_GROUPINFO("GYR2OFFS", 7, AP_InertialSensor, _gyro_offset[1], 0),
#endif
// @Param: GYR3OFFS_X
// @DisplayName: Gyro3 offsets of X axis
@ -147,7 +150,10 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
// @Units: rad/s
// @User: Advanced
// @Calibration: 1
#if INS_MAX_INSTANCES > 2
AP_GROUPINFO("GYR3OFFS", 10, AP_InertialSensor, _gyro_offset[2], 0),
#endif
// @Param: ACCSCAL_X
// @DisplayName: Accelerometer scaling of X axis
@ -216,7 +222,10 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
// @Range: 0.8 1.2
// @User: Advanced
// @Calibration: 1
#if INS_MAX_INSTANCES > 1
AP_GROUPINFO("ACC2SCAL", 14, AP_InertialSensor, _accel_scale[1], 0),
#endif
// @Param: ACC2OFFS_X
// @DisplayName: Accelerometer2 offsets of X axis
@ -241,7 +250,10 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
// @Range: -3.5 3.5
// @User: Advanced
// @Calibration: 1
#if INS_MAX_INSTANCES > 1
AP_GROUPINFO("ACC2OFFS", 15, AP_InertialSensor, _accel_offset[1], 0),
#endif
// @Param: ACC3SCAL_X
// @DisplayName: Accelerometer3 scaling of X axis
@ -263,7 +275,10 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
// @Range: 0.8 1.2
// @User: Advanced
// @Calibration: 1
#if INS_MAX_INSTANCES > 2
AP_GROUPINFO("ACC3SCAL", 16, AP_InertialSensor, _accel_scale[2], 0),
#endif
// @Param: ACC3OFFS_X
// @DisplayName: Accelerometer3 offsets of X axis
@ -288,7 +303,10 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
// @Range: -3.5 3.5
// @User: Advanced
// @Calibration: 1
#if INS_MAX_INSTANCES > 2
AP_GROUPINFO("ACC3OFFS", 17, AP_InertialSensor, _accel_offset[2], 0),
#endif
// @Param: GYRO_FILTER
// @DisplayName: Gyro filter cutoff frequency
@ -318,14 +336,20 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
// @Description: Use second IMU for attitude, velocity and position estimates
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
#if INS_MAX_INSTANCES > 1
AP_GROUPINFO("USE2", 21, AP_InertialSensor, _use[1], 1),
#endif
// @Param: USE3
// @DisplayName: Use third IMU for attitude, velocity and position estimates
// @Description: Use third IMU for attitude, velocity and position estimates
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
#if INS_MAX_INSTANCES > 2
AP_GROUPINFO("USE3", 22, AP_InertialSensor, _use[2], 1),
#endif
// @Param: STILL_THRESH
// @DisplayName: Stillness threshold for detecting if we are moving
@ -403,7 +427,10 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
// @Range: -5 5
// @Increment: 0.01
// @User: Advanced
#if INS_MAX_INSTANCES > 1
AP_GROUPINFO("POS2", 28, AP_InertialSensor, _accel_pos[1], 0.0f),
#endif
// @Param: POS3_X
// @DisplayName: IMU accelerometer X position
@ -427,7 +454,10 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
// @Range: -5 5
// @Increment: 0.01
// @User: Advanced
#if INS_MAX_INSTANCES > 2
AP_GROUPINFO("POS3", 29, AP_InertialSensor, _accel_pos[2], 0.0f),
#endif
// @Param: GYR_ID
// @DisplayName: Gyro ID
@ -441,14 +471,20 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
// @Description: Gyro2 sensor ID, taking into account its type, bus and instance
// @ReadOnly: True
// @User: Advanced
#if INS_MAX_INSTANCES > 1
AP_GROUPINFO("GYR2_ID", 31, AP_InertialSensor, _gyro_id[1], 0),
#endif
// @Param: GYR3_ID
// @DisplayName: Gyro3 ID
// @Description: Gyro3 sensor ID, taking into account its type, bus and instance
// @ReadOnly: True
// @User: Advanced
#if INS_MAX_INSTANCES > 2
AP_GROUPINFO("GYR3_ID", 32, AP_InertialSensor, _gyro_id[2], 0),
#endif
// @Param: ACC_ID
// @DisplayName: Accelerometer ID
@ -462,14 +498,20 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
// @Description: Accelerometer2 sensor ID, taking into account its type, bus and instance
// @ReadOnly: True
// @User: Advanced
#if INS_MAX_INSTANCES > 1
AP_GROUPINFO("ACC2_ID", 34, AP_InertialSensor, _accel_id[1], 0),
#endif
// @Param: ACC3_ID
// @DisplayName: Accelerometer3 ID
// @Description: Accelerometer3 sensor ID, taking into account its type, bus and instance
// @ReadOnly: True
// @User: Advanced
#if INS_MAX_INSTANCES > 2
AP_GROUPINFO("ACC3_ID", 35, AP_InertialSensor, _accel_id[2], 0),
#endif
// @Param: FAST_SAMPLE
// @DisplayName: Fast sampling mask

4
libraries/AP_InertialSensor/AP_InertialSensor.h
View File

@ -13,8 +13,10 @@
maximum number of INS instances available on this platform. If more
than 1 then redundant sensors may be available
*/
#ifndef INS_MAX_INSTANCES
#define INS_MAX_INSTANCES 3
#define INS_MAX_BACKENDS 6
#endif
#define INS_MAX_BACKENDS 2*INS_MAX_INSTANCES
#define INS_MAX_NOTCHES 4
#ifndef INS_VIBRATION_CHECK_INSTANCES
#if HAL_MEM_CLASS >= HAL_MEM_CLASS_300