imu_px4 thermal cal missing in voxl-px4?
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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
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@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
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@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?
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@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 -
@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.
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@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.
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Thanks for the clarification!
