accel and gyro calibration move to msg/

msg/CMakeLists.txt

@@ -40,6 +40,8 @@ set(msg_files
 	airspeed.msg
 	att_pos_mocap.msg
 	battery_status.msg
+	calibration_accel.msg
+	calibration_gyro.msg
 	camera_capture.msg
 	camera_trigger.msg
 	collision_report.msg

msg/calibration_accel.msg

@@ -0,0 +1,10 @@
+
+# scaling factors; Vout = (Vin * Vscale) + Voffset
+
+float32 x_offset
+float32 y_offset
+float32 z_offset
+
+float32 x_scale
+float32 y_scale
+float32 z_scale

msg/calibration_gyro.msg

@@ -0,0 +1,10 @@
+
+# scaling factors; Vout = (Vin * Vscale) + Voffset
+
+float32 x_offset
+float32 y_offset
+float32 z_offset
+
+float32 x_scale
+float32 y_scale
+float32 z_scale

msg/tools/px_generate_uorb_topic_helper.py

@@ -77,8 +77,8 @@
     'uint16': '%u',
     'uint32': '%" PRIu32 "',
     'uint64': '%" PRIu64 "',
-    'float32': '%.3f',
-    'float64': '%.3f',
+    'float32': '%.5f',
+    'float64': '%.6f',
     'bool': '%u',
     'char': '%c',
 }

src/drivers/drv_accel.h

@@ -51,18 +51,6 @@
 #define ACCEL1_DEVICE_PATH	"/dev/accel1"
 #define ACCEL2_DEVICE_PATH	"/dev/accel2"
 
-#include <uORB/topics/sensor_accel.h>
-#define accel_report sensor_accel_s
-
-/** accel scaling factors; Vout = Vscale * (Vin + Voffset) */
-struct accel_calibration_s {
-	float	x_offset;
-	float	x_scale;
-	float	y_offset;
-	float	y_scale;
-	float	z_offset;
-	float	z_scale;
-};
 /*
  * ioctl() definitions
  *

src/drivers/drv_gyro.h

@@ -51,19 +51,6 @@
 #define GYRO1_DEVICE_PATH	"/dev/gyro1"
 #define GYRO2_DEVICE_PATH	"/dev/gyro2"
 
-#include <uORB/topics/sensor_gyro.h>
-#define gyro_report sensor_gyro_s
-
-/** gyro scaling factors; Vout = (Vin * Vscale) + Voffset */
-struct gyro_calibration_s {
-	float	x_offset;
-	float	x_scale;
-	float	y_offset;
-	float	y_scale;
-	float	z_offset;
-	float	z_scale;
-};
-
 /*
  * ioctl() definitions
  */

src/drivers/imu/adis16448/adis16448.cpp

@@ -81,6 +81,11 @@
 #include <mathlib/math/filter/LowPassFilter2p.hpp>
 #include <lib/conversion/rotation.h>
 
+#include <uORB/topics/calibration_accel.h>
+#include <uORB/topics/calibration_gyro.h>
+#include <uORB/topics/sensor_accel.h>
+#include <uORB/topics/sensor_gyro.h>
+
 #define DIR_READ				0x00
 #define DIR_WRITE				0x80
 
@@ -224,21 +229,21 @@ class ADIS16448 : public device::SPI
 
 	uint16_t			_product;	/** product code */
 
-	struct hrt_call		_call;
+	struct hrt_call			_call;
 	unsigned			_call_interval;
 
-	ringbuffer::RingBuffer			*_gyro_reports;
+	ringbuffer::RingBuffer		*_gyro_reports;
 
-	struct gyro_calibration_s	_gyro_scale;
+	calibration_gyro_s		_gyro_scale;
 	float				_gyro_range_scale;
 	float				_gyro_range_rad_s;
 
-	ringbuffer::RingBuffer			*_accel_reports;
+	ringbuffer::RingBuffer		*_accel_reports;
 
-	struct accel_calibration_s	_accel_scale;
+	calibration_accel_s		_accel_scale;
 	float				_accel_range_scale;
 	float				_accel_range_m_s2;
-	orb_advert_t		_accel_topic;
+	orb_advert_t			_accel_topic;
 	int					_accel_orb_class_instance;
 	int					_accel_class_instance;
 
@@ -611,13 +616,13 @@ ADIS16448::init()
 	}
 
 	/* allocate basic report buffers */
-	_gyro_reports = new ringbuffer::RingBuffer(2, sizeof(gyro_report));
+	_gyro_reports = new ringbuffer::RingBuffer(2, sizeof(sensor_gyro_s));
 
 	if (_gyro_reports == nullptr) {
 		goto out;
 	}
 
-	_accel_reports = new ringbuffer::RingBuffer(2, sizeof(accel_report));
+	_accel_reports = new ringbuffer::RingBuffer(2, sizeof(sensor_accel_s));
 
 	if (_accel_reports == nullptr) {
 		goto out;
@@ -679,7 +684,7 @@ ADIS16448::init()
 	measure();
 
 	/* advertise sensor topic, measure manually to initialize valid report */
-	struct accel_report arp;
+	sensor_accel_s arp;
 	_accel_reports->get(&arp);
 
 	/* measurement will have generated a report, publish */
@@ -690,7 +695,7 @@ ADIS16448::init()
 		warnx("ADVERT FAIL");
 	}
 
-	struct gyro_report grp;
+	sensor_gyro_s grp;
 
 	_gyro_reports->get(&grp);
 
@@ -855,7 +860,7 @@ ADIS16448::_set_gyro_dyn_range(uint16_t desired_gyro_dyn_range)
 ssize_t
 ADIS16448::read(struct file *filp, char *buffer, size_t buflen)
 {
-	unsigned count = buflen / sizeof(accel_report);
+	unsigned count = buflen / sizeof(sensor_accel_s);
 
 	/* buffer must be large enough */
 	if (count < 1) {
@@ -876,7 +881,7 @@ ADIS16448::read(struct file *filp, char *buffer, size_t buflen)
 	perf_count(_accel_reads);
 
 	/* copy reports out of our buffer to the caller */
-	accel_report *arp = reinterpret_cast<accel_report *>(buffer);
+	sensor_accel_s *arp = reinterpret_cast<sensor_accel_s *>(buffer);
 	int transferred = 0;
 
 	while (count--) {
@@ -889,7 +894,7 @@ ADIS16448::read(struct file *filp, char *buffer, size_t buflen)
 	}
 
 	/* return the number of bytes transferred */
-	return (transferred * sizeof(accel_report));
+	return (transferred * sizeof(sensor_accel_s));
 }
 
 int
@@ -926,7 +931,7 @@ ADIS16448::gyro_self_test()
 ssize_t
 ADIS16448::gyro_read(struct file *filp, char *buffer, size_t buflen)
 {
-	unsigned count = buflen / sizeof(gyro_report);
+	unsigned count = buflen / sizeof(sensor_gyro_s);
 
 	/* buffer must be large enough */
 	if (count < 1) {
@@ -947,7 +952,7 @@ ADIS16448::gyro_read(struct file *filp, char *buffer, size_t buflen)
 	perf_count(_gyro_reads);
 
 	/* copy reports out of our buffer to the caller */
-	gyro_report *grp = reinterpret_cast<gyro_report *>(buffer);
+	sensor_gyro_s *grp = reinterpret_cast<sensor_gyro_s *>(buffer);
 	int transferred = 0;
 
 	while (count--) {
@@ -960,7 +965,7 @@ ADIS16448::gyro_read(struct file *filp, char *buffer, size_t buflen)
 	}
 
 	/* return the number of bytes transferred */
-	return (transferred * sizeof(gyro_report));
+	return (transferred * sizeof(sensor_gyro_s));
 }
 
 ssize_t
@@ -1114,7 +1119,7 @@ ADIS16448::ioctl(struct file *filp, int cmd, unsigned long arg)
 
 	case ACCELIOCSSCALE: {
 			/* copy scale, but only if off by a few percent */
-			struct accel_calibration_s *s = (struct accel_calibration_s *) arg;
+			calibration_accel_s *s = (calibration_accel_s *) arg;
 			float sum = s->x_scale + s->y_scale + s->z_scale;
 
 			if (sum > 2.0f && sum < 4.0f) {
@@ -1128,7 +1133,7 @@ ADIS16448::ioctl(struct file *filp, int cmd, unsigned long arg)
 
 	case ACCELIOCGSCALE:
 		/* copy scale out */
-		memcpy((struct accel_calibration_s *) arg, &_accel_scale, sizeof(_accel_scale));
+		memcpy((calibration_accel_s *) arg, &_accel_scale, sizeof(_accel_scale));
 		return OK;
 
 	case ACCELIOCSRANGE:
@@ -1187,12 +1192,12 @@ ADIS16448::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
 
 	case GYROIOCSSCALE:
 		/* copy scale in */
-		memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale));
+		memcpy(&_gyro_scale, (calibration_gyro_s *) arg, sizeof(_gyro_scale));
 		return OK;
 
 	case GYROIOCGSCALE:
 		/* copy scale out */
-		memcpy((struct gyro_calibration_s *) arg, &_gyro_scale, sizeof(_gyro_scale));
+		memcpy((calibration_gyro_s *) arg, &_gyro_scale, sizeof(_gyro_scale));
 		return OK;
 
 	case GYROIOCSRANGE:
@@ -1423,8 +1428,8 @@ ADIS16448::measure()
 	/*
 	 * Report buffers.
 	 */
-	accel_report	arb;
-	gyro_report		grb;
+	sensor_accel_s		arb;
+	sensor_gyro_s		grb;
 	mag_report		mrb;
 
 	grb.timestamp = arb.timestamp = mrb.timestamp = hrt_absolute_time();
@@ -1826,9 +1831,9 @@ start(enum Rotation rotation)
 void
 test()
 {
-	accel_report a_report;
-	gyro_report  g_report;
-	mag_report 	 m_report;
+	sensor_accel_s	a_report;
+	sensor_gyro_s	g_report;
+	mag_report	m_report;
 
 	ssize_t sz;
 

src/drivers/imu/adis16477/ADIS16477.cpp

@@ -165,7 +165,7 @@ ADIS16477::init()
 	measure();
 
 	/* advertise sensor topic, measure manually to initialize valid report */
-	accel_report arp = {};
+	sensor_accel_s arp = {};
 
 	/* measurement will have generated a report, publish */
 	_accel_topic = orb_advertise_multi(ORB_ID(sensor_accel), &arp, &_accel_orb_class_instance, ORB_PRIO_MAX);
@@ -174,7 +174,7 @@ ADIS16477::init()
 		PX4_ERR("ADVERT FAIL");
 	}
 
-	gyro_report grp = {};
+	sensor_gyro_s grp = {};
 	_gyro->_gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &grp, &_gyro->_gyro_orb_class_instance, ORB_PRIO_MAX);
 
 	if (_gyro->_gyro_topic == nullptr) {
@@ -369,7 +369,7 @@ ADIS16477::ioctl(struct file *filp, int cmd, unsigned long arg)
 
 	case ACCELIOCSSCALE: {
 			/* copy scale, but only if off by a few percent */
-			struct accel_calibration_s *s = (struct accel_calibration_s *) arg;
+			calibration_accel_s *s = (calibration_accel_s *) arg;
 			float sum = s->x_scale + s->y_scale + s->z_scale;
 
 			if (sum > 2.0f && sum < 4.0f) {
@@ -383,7 +383,7 @@ ADIS16477::ioctl(struct file *filp, int cmd, unsigned long arg)
 
 	case ACCELIOCGSCALE:
 		/* copy scale out */
-		memcpy((struct accel_calibration_s *) arg, &_accel_scale, sizeof(_accel_scale));
+		memcpy((calibration_accel_s *) arg, &_accel_scale, sizeof(_accel_scale));
 		return OK;
 
 	case ACCELIOCSRANGE:
@@ -418,12 +418,12 @@ ADIS16477::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
 
 	case GYROIOCSSCALE:
 		/* copy scale in */
-		memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale));
+		memcpy(&_gyro_scale, (calibration_gyro_s *) arg, sizeof(_gyro_scale));
 		return OK;
 
 	case GYROIOCGSCALE:
 		/* copy scale out */
-		memcpy((struct gyro_calibration_s *) arg, &_gyro_scale, sizeof(_gyro_scale));
+		memcpy((calibration_gyro_s *) arg, &_gyro_scale, sizeof(_gyro_scale));
 		return OK;
 
 	case GYROIOCSRANGE:
@@ -527,7 +527,7 @@ ADIS16477::publish_accel(const ADISReport &report)
 		return false;
 	}
 
-	accel_report arb = {};
+	sensor_accel_s arb = {};
 	arb.timestamp = hrt_absolute_time();
 	arb.error_count = perf_event_count(_bad_transfers);
 
@@ -586,7 +586,7 @@ ADIS16477::publish_gyro(const ADISReport &report)
 		return false;
 	}
 
-	gyro_report grb = {};
+	sensor_gyro_s grb = {};
 	grb.timestamp = hrt_absolute_time();
 	grb.error_count = perf_event_count(_bad_transfers);
 

src/drivers/imu/adis16477/ADIS16477.hpp

@@ -50,6 +50,11 @@
 #include <perf/perf_counter.h>
 #include <ecl/geo/geo.h>
 
+#include <uORB/topics/calibration_accel.h>
+#include <uORB/topics/calibration_gyro.h>
+#include <uORB/topics/sensor_accel.h>
+#include <uORB/topics/sensor_gyro.h>
+
 #define ADIS16477_GYRO_DEFAULT_RATE					250
 #define ADIS16477_GYRO_DEFAULT_DRIVER_FILTER_FREQ	30
 
@@ -88,13 +93,13 @@ class ADIS16477 : public device::SPI
 	struct hrt_call		_call {};
 	unsigned			_call_interval{0};
 
-	struct gyro_calibration_s	_gyro_scale {};
+	calibration_gyro_s	_gyro_scale {};
 
 	// gyro 0.025 °/sec/LSB
 	float				_gyro_range_scale{0.025f};
 	float				_gyro_range_rad_s{math::radians(500.0f)};
 
-	struct accel_calibration_s	_accel_scale {};
+	calibration_accel_s	_accel_scale {};
 
 	// accel 1.25 mg/LSB
 	float				_accel_range_scale{1.25f * CONSTANTS_ONE_G / 1000.0f};

src/drivers/imu/adis16477/ADIS16477_gyro.hpp

@@ -39,6 +39,9 @@
 #include <drivers/device/CDev.hpp>
 #include <drivers/drv_gyro.h>
 
+#include <uORB/topics/calibration_gyro.h>
+#include <uORB/topics/sensor_gyro.h>
+
 /**
  * Helper class implementing the gyro driver node.
  */

src/drivers/imu/adis16477/ADIS16477_main.cpp

@@ -113,8 +113,8 @@ start(enum Rotation rotation)
 void
 test()
 {
-	accel_report a_report;
-	gyro_report  g_report;
+	sensor_accel_s a_report;
+	sensor_gyro_s  g_report;
 
 	ssize_t sz;