class TemperatureCompensation Applies temperature compensation to sensor data. More...

Public Member Functions
int	parameters_update (bool hil_enabled=false)
	(re)load the parameters. More...

int	set_sensor_id_gyro (uint32_t device_id, int topic_instance)
	supply information which device_id matches a specific uORB topic_instance (needed if a system has multiple sensors of the same type) More...

int	set_sensor_id_accel (uint32_t device_id, int topic_instance)

int	set_sensor_id_baro (uint32_t device_id, int topic_instance)

int	apply_corrections_gyro (int topic_instance, matrix::Vector3f &sensor_data, float temperature, float offsets, float scales)
	Apply Thermal corrections to gyro (& other) sensor data. More...

int	apply_corrections_accel (int topic_instance, matrix::Vector3f &sensor_data, float temperature, float offsets, float scales)

int	apply_corrections_baro (int topic_instance, float &sensor_data, float temperature, float offsets, float scales)

void	print_status ()
	output current configuration status to console

Detailed Description

class TemperatureCompensation Applies temperature compensation to sensor data.

Loads the parameters from PX4 param storage.

Member Function Documentation

int sensors::TemperatureCompensation::apply_corrections_gyro	(	int	topic_instance,
		matrix::Vector3f &	sensor_data,
		float	temperature,
		float *	offsets,
		float *	scales
	)

Apply Thermal corrections to gyro (& other) sensor data.

Parameters

topic_instance	uORB topic instance
sensor_data	input sensor data, output sensor data with applied corrections
temperature	measured current temperature
offsets	returns offsets that were applied (length = 3, except for baro), depending on return value
scales	returns scales that were applied (length = 3), depending on return value

See also: set_sendor_id_gyro) 0: no changes (correction not enabled), 1: corrections applied but no changes to offsets & scales, 2: corrections applied and offsets & scales updated

int sensors::TemperatureCompensation::parameters_update ( bool hil_enabled = false )

(re)load the parameters.

Make sure to call this on startup as well

int sensors::TemperatureCompensation::set_sensor_id_gyro	(	uint32_t	device_id,
		int	topic_instance
	)

supply information which device_id matches a specific uORB topic_instance (needed if a system has multiple sensors of the same type)

Returns: index for compensation parameter entry containing matching device ID on success, <0 otherwise

The documentation for this class was generated from the following files: