accel and gyro calibration cleanup

- kill IOCTLs for accel and gyro calibration - move accel/calibration entirely to sensors module
PX4 · Apr 25, 2020 · a7e1b82 · a7e1b82
1 parent 70329ce
commit a7e1b82
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Showing 43 changed files with 564 additions and 1,179 deletions.
diff --git a/.ci/Jenkinsfile-hardware b/.ci/Jenkinsfile-hardware
@@ -759,6 +759,8 @@ void statusFTDI() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "adc test"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander check"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander calibrate gyro; sleep 2; param show CAL_GYRO*"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander calibrate level; sleep 2; param show SENS_BOARD*"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dataman status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dmesg"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ekf2 status"'
@@ -817,6 +819,8 @@ void statusSEGGER() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "adc test"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander check"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander calibrate gyro; sleep 2; param show CAL_GYRO*"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander calibrate level; sleep 2; param show SENS_BOARD*"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "dataman status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "dmesg"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ekf2 status"'

diff --git a/boards/atlflight/eagle/default.cmake b/boards/atlflight/eagle/default.cmake
@@ -89,7 +89,6 @@ px4_add_board(
 		vtol_att_control
 	SYSTEMCMDS
 		#bl_update
-		#config
 		#dumpfile
 		esc_calib
 		#hardfault_log

diff --git a/boards/atlflight/excelsior/default.cmake b/boards/atlflight/excelsior/default.cmake
@@ -88,7 +88,6 @@ px4_add_board(
 		vtol_att_control
 	SYSTEMCMDS
 		#bl_update
-		#config
 		#dumpfile
 		esc_calib
 		#hardfault_log

diff --git a/boards/px4/fmu-v2/default.cmake b/boards/px4/fmu-v2/default.cmake
@@ -99,7 +99,6 @@ px4_add_board(
 		#vtol_att_control
 	SYSTEMCMDS
 		bl_update
-		#config
 		#dmesg
 		#dumpfile
 		#esc_calib

diff --git a/boards/px4/fmu-v2/fixedwing.cmake b/boards/px4/fmu-v2/fixedwing.cmake
@@ -62,7 +62,6 @@ px4_add_board(
 		#vmount
 	SYSTEMCMDS
 		#bl_update
-		#config
 		#dumpfile
 		#esc_calib
 		hardfault_log

diff --git a/boards/px4/fmu-v2/lpe.cmake b/boards/px4/fmu-v2/lpe.cmake
@@ -87,7 +87,6 @@ px4_add_board(
 
 	SYSTEMCMDS
 		bl_update
-		#config
 		#dumpfile
 		#esc_calib
 		hardfault_log

diff --git a/boards/px4/fmu-v2/multicopter.cmake b/boards/px4/fmu-v2/multicopter.cmake
@@ -60,7 +60,6 @@ px4_add_board(
 		vmount
 	SYSTEMCMDS
 		#bl_update
-		#config
 		#dumpfile
 		#esc_calib
 		hardfault_log

diff --git a/boards/px4/fmu-v2/rover.cmake b/boards/px4/fmu-v2/rover.cmake
@@ -55,7 +55,6 @@ px4_add_board(
 
 	SYSTEMCMDS
 		bl_update
-		#config
 		#dumpfile
 		#esc_calib
 		hardfault_log

diff --git a/boards/px4/fmu-v2/test.cmake b/boards/px4/fmu-v2/test.cmake
@@ -92,7 +92,6 @@ px4_add_board(
 		#vtol_att_control
 	SYSTEMCMDS
 		#bl_update
-		#config
 		#dmesg
 		#dumpfile
 		#esc_calib

diff --git a/boards/px4/sitl/default.cmake b/boards/px4/sitl/default.cmake
@@ -53,7 +53,6 @@ px4_add_board(
 		uuv_att_control
 
 	SYSTEMCMDS
-		#config
 		#dumpfile
 		dyn
 		esc_calib

diff --git a/boards/px4/sitl/rtps.cmake b/boards/px4/sitl/rtps.cmake
@@ -52,7 +52,6 @@ px4_add_board(
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
-		#config
 		#dumpfile
 		dyn
 		esc_calib

diff --git a/boards/px4/sitl/test.cmake b/boards/px4/sitl/test.cmake
@@ -50,7 +50,6 @@ px4_add_board(
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
-		#config
 		#dumpfile
 		dyn
 		esc_calib

diff --git a/platforms/common/include/px4_platform_common/module_params.h b/platforms/common/include/px4_platform_common/module_params.h
@@ -52,6 +52,14 @@ class ModuleParams : public ListNode<ModuleParams *>
 		setParent(parent);
 	}
 
+	// empty copy and move constructors (don't copy _children)
+	ModuleParams(const ModuleParams &) {};
+	ModuleParams(ModuleParams &&) {};
+
+	// no assignment
+	ModuleParams &operator=(const ModuleParams &) = delete;
+	ModuleParams &operator=(ModuleParams &&) = delete;
+
 	/**
 	 * @brief Sets the parent module. This is typically not required,
 	 *         only in cases where the parent cannot be set via constructor.
@@ -65,12 +73,6 @@ class ModuleParams : public ListNode<ModuleParams *>
 
 	virtual ~ModuleParams() = default;
 
-	// Disallow copy construction and move assignment.
-	ModuleParams(const ModuleParams &) = delete;
-	ModuleParams &operator=(const ModuleParams &) = delete;
-	ModuleParams(ModuleParams &&) = delete;
-	ModuleParams &operator=(ModuleParams &&) = delete;
-
 protected:
 	/**
 	 * @brief Call this method whenever the module gets a parameter change notification.

diff --git a/src/drivers/distance_sensor/cm8jl65/CM8JL65.cpp b/src/drivers/distance_sensor/cm8jl65/CM8JL65.cpp
@@ -33,6 +33,8 @@
 
 #include "CM8JL65.hpp"
 
+#include <fcntl.h>
+
 static constexpr unsigned char crc_msb_vector[] = {
 	0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
 	0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,

diff --git a/src/drivers/distance_sensor/leddar_one/LeddarOne.cpp b/src/drivers/distance_sensor/leddar_one/LeddarOne.cpp
@@ -33,6 +33,7 @@
 
 #include "LeddarOne.hpp"
 
+#include <fcntl.h>
 #include <stdlib.h>
 #include <string.h>
 

diff --git a/src/drivers/distance_sensor/sf0x/SF0X.cpp b/src/drivers/distance_sensor/sf0x/SF0X.cpp
@@ -33,6 +33,7 @@
 
 #include "SF0X.hpp"
 
+#include <fcntl.h>
 #include <termios.h>
 
 /* Configuration Constants */

diff --git a/src/drivers/distance_sensor/tfmini/TFMINI.cpp b/src/drivers/distance_sensor/tfmini/TFMINI.cpp
@@ -33,6 +33,8 @@
 
 #include "TFMINI.hpp"
 
+#include <fcntl.h>
+
 TFMINI::TFMINI(const char *port, uint8_t rotation) :
 	ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(port)),
 	_px4_rangefinder(0 /* TODO: device id */, ORB_PRIO_DEFAULT, rotation)

diff --git a/src/drivers/drv_accel.h b/src/drivers/drv_accel.h
diff --git a/src/drivers/drv_gyro.h b/src/drivers/drv_gyro.h
diff --git a/src/drivers/drv_mixer.h b/src/drivers/drv_mixer.h
@@ -85,4 +85,4 @@
  * - save/serialise for saving tuned mixers.
  */
 
-#endif /* _DRV_ACCEL_H */
+#endif /* _DRV_MIXER_H */
diff --git a/src/examples/matlab_csv_serial/matlab_csv_serial.c b/src/examples/matlab_csv_serial/matlab_csv_serial.c
@@ -56,8 +56,6 @@
 #include <limits.h>
 #include <math.h>
 #include <uORB/uORB.h>
-#include <drivers/drv_accel.h>
-#include <drivers/drv_gyro.h>
 #include <perf/perf_counter.h>
 #include <systemlib/err.h>
 #include <poll.h>