fix thermal calibration if a sensor does not have temperature sensor #15671
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| @@ -67,7 +67,7 @@ void TemperatureCompensationModule::parameters_update() | |||
| int temp = _temperature_compensation.set_sensor_id_gyro(report.device_id, uorb_index); | |||
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| if (temp < 0) { | |||
| PX4_ERR("%s init: failed to find device ID %u for instance %i", "gyro", report.device_id, uorb_index); | |||
| PX4_INFO("%s init: failed to find device ID %u for instance %i", "gyro", report.device_id, uorb_index); | |||
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Maybe we could make this message a little more clear while we're here?
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No temperature calibration available for gyro device id (N)?
NicolasM0
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| PX4_WARN("Result Accel %d does not have a valid temperature sensor", sensor_index); | ||
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| uint32_t param = 0; | ||
| set_parameter("TC_A%d_ID", sensor_index, ¶m); |
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This makes sense, but worries me slightly. We know about the cases that don't have temperature at all (now reporting NAN), but I'm not absolutely certain it's impossible for other sensors to never publish NAN (eg sporadic read error, etc).
What do you think?
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You are right, better to be sure on that point. I think I can reverse the logic : initialize with no temperature sensors and change that when a temperature measure is received. Calibration will exit immediately if the first temperature measure of all sensors is nan ( I hope it is not the case juste afetthe boot ...)
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Calibration will exit immediately if the first temperature measure of all sensors is nan ( I hope it is not the case juste afetthe boot ...)
Briefly thinking about this I'd say it's unlikely, but also not impossible.
The structure of many of the newer IMU drivers is that the temperature is read AFTER the FIFO. This doesn't apply to the sensors like the ICM20602 that have the temperature in the FIFO. https://github.com/PX4/Firmware/blob/7e5e8259f3bc644185569cb2292fd5ebd6bb532f/src/drivers/imu/invensense/icm20689/ICM20689.cpp#L265-L269
That means technically the very first sensor_{accel, gyro} publications with have a temperature of NAN. Now, these drivers start much earlier than the temperature_compensation module and run at a much higher priority, but some of them do have fairly long initial reset periods (30-100 ms) before that first publication.
Let's move forward with this change and keep an eye on it. I wouldn't be opposed to restructuring the drivers slightly so that we go out of our way to never publish NAN as a temperature unless there's no sensor or something is actually busted.
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Describe problem solved by this pull request
If a sensor does not have temperature measurement, the onboard thermal calibration of other sensors will never finish.
This PR also change the message displayed as an error by thermal compensation module if a sensor does not have a thermal compensation. It is now the normal use case for some autopilots (eg: CUAV V5+).
Describe your solution
Sensors with no temperature measure are skipped.
The compensation not found error is now displayed as an info.
Test data / coverage
Tested on V5+ with no temperature data on gyro 2
Additional context
related to :
#15644
#15582