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sensors app: Use -1 in rotation parameter to indicate that a sensor cannot be rotated as it is internal.

This commit is contained in:
Lorenz Meier 2015-02-14 16:03:27 +01:00
parent 3d195bc7cc
commit 12ae984198
2 changed files with 34 additions and 8 deletions
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22
src/modules/sensors/sensor_params.c
View File

@ -122,6 +122,12 @@ PARAM_DEFINE_INT32(CAL_MAG0_ID, 0);
/**
* Rotation of magnetometer 0 relative to airframe.
*
* An internal magnetometer will force a value of -1, so a GCS
* should only attempt to configure the rotation if the value is
* greater than or equal to zero.
*
* @min -1
* @max 30
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_MAG0_ROT, 0);
@ -292,8 +298,14 @@ PARAM_DEFINE_FLOAT(CAL_GYRO1_ZSCALE, 1.0f);
PARAM_DEFINE_INT32(CAL_MAG1_ID, 0);
/**
* Rotation of magnetometer 0 relative to airframe.
* Rotation of magnetometer 1 relative to airframe.
*
* An internal magnetometer will force a value of -1, so a GCS
* should only attempt to configure the rotation if the value is
* greater than or equal to zero.
*
* @min -1
* @max 30
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_MAG1_ROT, 0);
@ -464,8 +476,14 @@ PARAM_DEFINE_FLOAT(CAL_GYRO2_ZSCALE, 1.0f);
PARAM_DEFINE_INT32(CAL_MAG2_ID, 0);
/**
* Rotation of magnetometer 0 relative to airframe.
* Rotation of magnetometer 2 relative to airframe.
*
* An internal magnetometer will force a value of -1, so a GCS
* should only attempt to configure the rotation if the value is
* greater than or equal to zero.
*
* @min -1
* @max 30
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_MAG2_ROT, 0);

20
src/modules/sensors/sensors.cpp
View File

@ -134,16 +134,16 @@
#define ADC_AIRSPEED_VOLTAGE_CHANNEL -1
#endif
#define BATT_V_LOWPASS 0.001f
#define BATT_V_IGNORE_THRESHOLD 4.8f
#define BATT_V_LOWPASS 0.001f
#define BATT_V_IGNORE_THRESHOLD 4.8f
/**
* HACK - true temperature is much less than indicated temperature in baro,
* subtract 5 degrees in an attempt to account for the electrical upheating of the PCB
*/
#define PCB_TEMP_ESTIMATE_DEG 5.0f
#define STICK_ON_OFF_LIMIT 0.75f
#define PCB_TEMP_ESTIMATE_DEG 5.0f
#define STICK_ON_OFF_LIMIT 0.75f
#define MAG_ROT_VAL_INTERNAL -1
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
@ -1515,6 +1515,9 @@ Sensors::parameter_update_poll(bool forced)
if (ioctl(fd, MAGIOCGEXTERNAL, 0) <= 0) {
/* mag is internal */
_mag_rotation[s] = _board_rotation;
/* reset param to -1 to indicate external mag */
int32_t minus_one = MAG_ROT_VAL_INTERNAL;
param_set(param_find("CAL_MAG0_ROT"), &minus_one);
} else {
int32_t mag_rot = 0;
@ -1527,12 +1530,17 @@ Sensors::parameter_update_poll(bool forced)
param_get(param_find("SENS_EXT_MAG_ROT"), &deprecated_mag_rot);
/* if the old param is non-zero, set the new one to the same value */
if ((deprecated_mag_rot != 0) && (mag_rot == 0)) {
if ((deprecated_mag_rot != 0) && (mag_rot <= 0)) {
mag_rot = deprecated_mag_rot;
param_set(param_find("CAL_MAG0_ROT"), &mag_rot);
}
}
/* handling of transition from internal to external */
if (mag_rot < 0) {
mag_rot = 0;
}
get_rot_matrix((enum Rotation)mag_rot, &_mag_rotation[s]);
}