Implement handling the hall measurements in the sensors module

Author: acfloria

src/modules/sensors/sensor_params_av.c

@@ -0,0 +1,226 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * Driver ID of the angle of attack vane (corresponds to sensor I2C address)
+ *
+ * setting -1 disables the vane, 0-3 correspond to hall driver IDs
+ *
+ * @min -1
+ * @max 3
+ * @reboot_required true
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_AV_AOA_ID, -1);
+
+/**
+ * Angle of attack vane angular mounting offset in degrees
+ *
+ * This value is subtracted (as a bias) from the measured angle of attack
+ *
+ * @unit deg
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_AV_AOA_OFF, 0.0);
+
+/**
+ * Minimum calibrated angle of attack vane angle in degrees
+ *
+ * @unit deg
+ * @min -90.0
+ * @max -1.0
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_AV_AOA_MIN, -30.0);
+
+/**
+ * Maximum calibrated angle of attack vane angle in degrees
+ *
+ * @unit deg
+ * @min 1.0
+ * @max 90.0
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_AV_AOA_MAX, 30.0);
+
+/**
+ * Reverse vane direction (mounting dependent)
+ *
+ * @min -1.0
+ * @max 1.0
+ * @value -1.0 Reverse
+ * @value 1.0 Normal
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_AV_AOA_REV, 1.0);
+
+/**
+ * Calibrated polynomial coefficient 0 (*1e7)
+ *
+ * y = p0 + p1 * x + p2 * x^2 + ...
+ * y = vane angle in degrees
+ * x = magnetic field measurement in Tesla (assumes use of hall effect sensor)
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_AV_AOA_P0, 0);
+
+/**
+ * Calibrated polynomial coefficient 1 (*1e7)
+ *
+ * y = p0 + p1 * x + p2 * x^2 + ...
+ * y = angle in degrees
+ * x = magnetic field measurement in Tesla (assumes use of hall effect sensor)
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_AV_AOA_P1, 0);
+
+/**
+ * Calibrated polynomial coefficient 2 (*1e7)
+ *
+ * y = p0 + p1 * x + p2 * x^2 + ...
+ * y = angle in degrees
+ * x = magnetic field measurement in Tesla (assumes use of hall effect sensor)
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_AV_AOA_P2, 0);
+
+/**
+ * Calibrated polynomial coefficient 3 (*1e7)
+ *
+ * y = p0 + p1 * x + p2 * x^2 + ...
+ * y = angle in degrees
+ * x = magnetic field measurement in Tesla (assumes use of hall effect sensor)
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_AV_AOA_P3, 0);
+
+/**
+ * Driver ID of the sideslip vane (corresponds to sensor I2C address)
+ *
+ * setting -1 disables the vane, 0-3 correspond to hall driver IDs
+ *
+ * @min -1
+ * @max 3
+ * @reboot_required true
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_AV_SLIP_ID, -1);
+
+/**
+ * Sideslip vane angular mounting offset in degrees
+ *
+ * This value is subtracted (as a bias) from the measured sideslip
+ *
+ * @unit deg
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_AV_SLIP_OFF, 0.0);
+
+/**
+ * Minimum calibrated sideslip vane angle in degrees
+ *
+ * @unit deg
+ * @min -90.0
+ * @max -1.0
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_AV_SLIP_MIN, -30.0);
+
+/**
+ * Maximum calibrated sideslip vane angle in degrees
+ *
+ * @unit deg
+ * @min 1.0
+ * @max 90.0
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_AV_SLIP_MAX, 30.0);
+
+/**
+ * Reverse vane direction (mounting dependent)
+ *
+ * @min -1.0
+ * @max 1.0
+ * @value -1.0 Reverse
+ * @value 1.0 Normal
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_AV_SLIP_REV, 1.0);
+
+/**
+ * Calibrated polynomial coefficient 0 (*1e7)
+ *
+ * y = p0 + p1 * x + p2 * x^2 + ...
+ * y = vane angle in degrees
+ * x = magnetic field measurement in Tesla (assumes use of hall effect sensor)
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_AV_SLIP_P0, 0);
+
+/**
+ * Calibrated polynomial coefficient 1 (*1e7)
+ *
+ * y = p0 + p1 * x + p2 * x^2 + ...
+ * y = angle in degrees
+ * x = magnetic field measurement in Tesla (assumes use of hall effect sensor)
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_AV_SLIP_P1, 0);
+
+/**
+ * Calibrated polynomial coefficient 2 (*1e7)
+ *
+ * y = p0 + p1 * x + p2 * x^2 + ...
+ * y = angle in degrees
+ * x = magnetic field measurement in Tesla (assumes use of hall effect sensor)
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_AV_SLIP_P2, 0);
+
+/**
+ * Calibrated polynomial coefficient 3 (*1e7)
+ *
+ * y = p0 + p1 * x + p2 * x^2 + ...
+ * y = angle in degrees
+ * x = magnetic field measurement in Tesla (assumes use of hall effect sensor)
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_AV_SLIP_P3, 0);