# imu_px4 thermal cal missing in voxl-px4?

Source: https://forum.modalai.com/topic/2730/imu_px4-thermal-cal-missing-in-voxl-px4
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2023-10-06 16:31:27 UTC by hmlow
Replies: 6 · Views: 1438

## hmlow · 2023-10-06 16:31:27 UTC

Hi devs

I thought I'd perform thermal cal for PX4 IMU but I realized that params like SYS_CAL_* and TC_* were missing.

I'm on SDK 1.0'x voxl-px4.

Were they removed?

Thanks

## Reply by Moderator (ModalAI staff) · 2023-10-06 18:11:55 UTC

@hmlow SDK 1.0 is based on PX4 1.14, please refer to PX4's documentation https://docs.px4.io/main/en/advanced_config/sensor_thermal_calibration.html

## Reply by hmlow · 2023-10-06 22:26:42 UTC (in reply to Moderator)

@Moderator I am aware of the page.

What I meant was that I am unable to locate the thermal cal parameters like SYS_CAL_ACCEL on the Parameters page on QGC and so am wondering if ModalAI's customized PX4 is without that feature?

## Reply by Eric Katzfey (ModalAI staff) · 2023-10-10 22:16:46 UTC (in reply to hmlow)

@hmlow The typical calibration parameters are all named CAL_<sensor>. Here's the list from voxl2: 
```
pxh> param show CAL_*
Symbols: x = used, + = saved, * = unsaved
x + CAL_ACC0_ID [16,77] : 2490378
x + CAL_ACC0_PRIO [17,78] : 50
x   CAL_ACC0_ROT [18,79] : -1
x + CAL_ACC0_XOFF [19,80] : -0.0183
x + CAL_ACC0_XSCALE [20,81] : 1.0001
x + CAL_ACC0_YOFF [21,82] : 0.0972
x + CAL_ACC0_YSCALE [22,83] : 1.0039
x + CAL_ACC0_ZOFF [23,84] : 0.0813
x + CAL_ACC0_ZSCALE [24,85] : 0.9930
x   CAL_ACC1_ID [25,86] : 0
x + CAL_ACC1_PRIO [26,87] : 50
x   CAL_ACC2_ID [27,95] : 0
x + CAL_ACC2_PRIO [28,96] : 50
x   CAL_ACC3_ID [29,104] : 0
x + CAL_ACC3_PRIO [30,105] : 50
x   CAL_AIR_CMODEL [31,113] : 0
x   CAL_AIR_TUBED_MM [32,114] : 1.5000
x   CAL_AIR_TUBELEN [33,115] : 0.2000
x   CAL_BARO0_ID [34,116] : 0
x   CAL_BARO1_ID [35,119] : 0
x   CAL_BARO2_ID [36,122] : 0
x + CAL_GYRO0_ID [37,128] : 2490378
x + CAL_GYRO0_PRIO [38,129] : 50
x   CAL_GYRO0_ROT [39,130] : -1
x + CAL_GYRO0_XOFF [40,131] : 0.0137
x + CAL_GYRO0_YOFF [41,132] : -0.0004
x + CAL_GYRO0_ZOFF [42,133] : -0.0032
x   CAL_GYRO1_ID [43,134] : 0
x + CAL_GYRO1_PRIO [44,135] : 50
x   CAL_GYRO2_ID [45,140] : 0
x + CAL_GYRO2_PRIO [46,141] : 50
x   CAL_GYRO3_ID [47,146] : 0
x + CAL_GYRO3_PRIO [48,147] : 50
x + CAL_MAG0_ID [49,152] : 396809
x + CAL_MAG0_PRIO [50,153] : 75
x + CAL_MAG0_ROT [51,154] : 0
x   CAL_MAG0_XCOMP [52,155] : 0.0000
x + CAL_MAG0_XODIAG [53,156] : -0.0118
x + CAL_MAG0_XOFF [54,157] : -0.0112
x + CAL_MAG0_XSCALE [55,158] : 1.0012
x   CAL_MAG0_YCOMP [56,159] : 0.0000
x + CAL_MAG0_YODIAG [57,160] : 0.0225
x + CAL_MAG0_YOFF [58,161] : -0.0309
x + CAL_MAG0_YSCALE [59,162] : 0.9408
x   CAL_MAG0_ZCOMP [60,163] : 0.0000
x + CAL_MAG0_ZODIAG [61,164] : -0.0067
x + CAL_MAG0_ZOFF [62,165] : -0.0974
x + CAL_MAG0_ZSCALE [63,166] : 1.0503
x   CAL_MAG1_ID [64,167] : 0
x + CAL_MAG1_PRIO [65,168] : 50
x   CAL_MAG1_ROT [66,169] : -1
x   CAL_MAG2_ID [67,182] : 0
x + CAL_MAG2_PRIO [68,183] : 50
x   CAL_MAG2_ROT [69,184] : -1
x   CAL_MAG3_ID [70,197] : 0
x + CAL_MAG3_PRIO [71,198] : 50
x   CAL_MAG3_ROT [72,199] : -1
x   CAL_MAG_COMP_TYP [73,212] : 0
x   CAL_MAG_SIDES [74,213] : 63
```

## Reply by Eric Katzfey (ModalAI staff) · 2023-10-10 22:19:53 UTC (in reply to hmlow)

@hmlow But I guess we've never used thermal calibration and don't have it built in to our code so you would have to add that.

## Reply by Eric Katzfey (ModalAI staff) · 2023-10-10 22:24:53 UTC (in reply to hmlow)

@hmlow PX4 only reports parameters to QGC that have been "used" by some part of the PX4 software. Since we don't have the temperature_compensation module included those SYS_CAL_ACCEL, etc. parameters are not accessed by anything and are thus considered "unused" and therefore not reported to QGC.

## Reply by hmlow · 2023-10-11 05:06:00 UTC (in reply to Eric Katzfey)

@Eric-Katzfey 

Thanks for the clarification!