accel and gyro calibration refactor and cleanup

 - remove all remaining IOCTLs for accel and gyro
 - move accel/gyro calibration entirely to sensors module
 - calibration no longer needs to clear existing before starting
 - temperature calibration (TC) remove all scale (SCL) parameters
 - gyro and baro scale are completely unused
 - regular accel calibration scale can be used (CAL_ACC*_xSCALE)

.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 "df"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dmesg"'
@@ -821,6 +823,8 @@ 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 "df -h"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "dmesg"'

Tools/process_sensor_caldata.py

@@ -124,10 +124,7 @@ def is_valid_directory(parser, arg):
 'TC_G0_X0_2':0.0,
 'TC_G0_X1_2':0.0,
 'TC_G0_X2_2':0.0,
-'TC_G0_X3_2':0.0,
-'TC_G0_SCL_0':1.0,
-'TC_G0_SCL_1':1.0,
-'TC_G0_SCL_2':1.0
+'TC_G0_X3_2':0.0
 }
 
 # curve fit the data for gyro 0 corrections
@@ -220,10 +217,7 @@ def is_valid_directory(parser, arg):
 'TC_G1_X0_2':0.0,
 'TC_G1_X1_2':0.0,
 'TC_G1_X2_2':0.0,
-'TC_G1_X3_2':0.0,
-'TC_G1_SCL_0':1.0,
-'TC_G1_SCL_1':1.0,
-'TC_G1_SCL_2':1.0
+'TC_G1_X3_2':0.0
 }
 
 # curve fit the data for gyro 1 corrections
@@ -316,10 +310,7 @@ def is_valid_directory(parser, arg):
 'TC_G2_X0_2':0.0,
 'TC_G2_X1_2':0.0,
 'TC_G2_X2_2':0.0,
-'TC_G2_X3_2':0.0,
-'TC_G2_SCL_0':1.0,
-'TC_G2_SCL_1':1.0,
-'TC_G2_SCL_2':1.0
+'TC_G2_X3_2':0.0
 }
 
 # curve fit the data for gyro 2 corrections
@@ -412,10 +403,7 @@ def is_valid_directory(parser, arg):
 'TC_A0_X0_2':0.0,
 'TC_A0_X1_2':0.0,
 'TC_A0_X2_2':0.0,
-'TC_A0_X3_2':0.0,
-'TC_A0_SCL_0':1.0,
-'TC_A0_SCL_1':1.0,
-'TC_A0_SCL_2':1.0
+'TC_A0_X3_2':0.0
 }
 
 # curve fit the data for accel 0 corrections
@@ -511,10 +499,7 @@ def is_valid_directory(parser, arg):
 'TC_A1_X0_2':0.0,
 'TC_A1_X1_2':0.0,
 'TC_A1_X2_2':0.0,
-'TC_A1_X3_2':0.0,
-'TC_A1_SCL_0':1.0,
-'TC_A1_SCL_1':1.0,
-'TC_A1_SCL_2':1.0
+'TC_A1_X3_2':0.0
 }
 
 # curve fit the data for accel 1 corrections
@@ -610,10 +595,7 @@ def is_valid_directory(parser, arg):
 'TC_A2_X0_2':0.0,
 'TC_A2_X1_2':0.0,
 'TC_A2_X2_2':0.0,
-'TC_A2_X3_2':0.0,
-'TC_A2_SCL_0':1.0,
-'TC_A2_SCL_1':1.0,
-'TC_A2_SCL_2':1.0
+'TC_A2_X3_2':0.0
 }
 
 # curve fit the data for accel 2 corrections
@@ -703,8 +685,7 @@ def is_valid_directory(parser, arg):
 'TC_B0_X2':0.0,
 'TC_B0_X3':0.0,
 'TC_B0_X4':0.0,
-'TC_B0_X5':0.0,
-'TC_B0_SCL':1.0,
+'TC_B0_X5':0.0
 }
 
 # curve fit the data for baro 0 corrections
@@ -755,7 +736,6 @@ def is_valid_directory(parser, arg):
 'TC_B1_X3':0.0,
 'TC_B1_X4':0.0,
 'TC_B1_X5':0.0,
-'TC_B1_SCL':1.0,
 }
 
 if num_baros >= 2:

msg/sensor_correction.msg

@@ -6,52 +6,21 @@ uint64 timestamp		# time since system start (microseconds)
 
 # Corrections for gyro angular rate outputs where corrected_rate = raw_rate * gyro_scale + gyro_offset
 # Note the corrections are in the sensor frame and must be applied before the sensor data is rotated into body frame
-# corrections for uORB instance 0
-float32[3] gyro_offset_0	# gyro XYZ offsets in the sensor frame in rad/s
-float32[3] gyro_scale_0		# gyro XYZ scale factors in the sensor frame
-
-# corrections for uORB instance 1
-float32[3] gyro_offset_1	# gyro XYZ offsets in the sensor frame in rad/s
-float32[3] gyro_scale_1		# gyro XYZ scale factors in the sensor frame
-
-# corrections for uORB instance 2
-float32[3] gyro_offset_2	# gyro XYZ offsets in the sensor frame in rad/s
-float32[3] gyro_scale_2		# gyro XYZ scale factors in the sensor frame
+uint32[3] gyro_device_ids
+float32[3] gyro_offset_0	# gyro 0 XYZ offsets in the sensor frame in rad/s
+float32[3] gyro_offset_1	# gyro 1 XYZ offsets in the sensor frame in rad/s
+float32[3] gyro_offset_2	# gyro 2 XYZ offsets in the sensor frame in rad/s
 
 # Corrections for acceleromter acceleration outputs where corrected_accel = raw_accel * accel_scale + accel_offset
 # Note the corrections are in the sensor frame and must be applied before the sensor data is rotated into body frame
-# corrections for uORB instance 0
-float32[3] accel_offset_0	# accelerometer XYZ offsets in the sensor frame in m/s/s
-float32[3] accel_scale_0	# accelerometer XYZ scale factors in the sensor frame
-
-# corrections for uORB instance 1
-float32[3] accel_offset_1	# accelerometer XYZ offsets in the sensor frame in m/s/s
-float32[3] accel_scale_1	# accelerometer XYZ scale factors in the sensor frame
-
-# corrections for uORB instance 2
-float32[3] accel_offset_2	# accelerometer XYZ offsets in the sensor frame in m/s/s
-float32[3] accel_scale_2	# accelerometer XYZ scale factors in the sensor frame
+uint32[3] accel_device_ids
+float32[3] accel_offset_0	# accelerometer 0 XYZ offsets in the sensor frame in m/s/s
+float32[3] accel_offset_1	# accelerometer 1 XYZ offsets in the sensor frame in m/s/s
+float32[3] accel_offset_2	# accelerometer 2 XYZ offsets in the sensor frame in m/s/s
 
 # Corrections for barometric pressure outputs where corrected_pressure = raw_pressure * pressure_scale + pressure_offset
 # Note the corrections are in the sensor frame and must be applied before the sensor data is rotated into body frame
-# corrections for uORB instance 0
-float32 baro_offset_0		# barometric pressure offsets in the sensor frame in m/s/s
-float32 baro_scale_0		# barometric pressure scale factors in the sensor frame
-
-# corrections for uORB instance 1
-float32 baro_offset_1		# barometric pressure offsets in the sensor frame in m/s/s
-float32 baro_scale_1		# barometric pressure scale factors in the sensor frame
-
-# corrections for uORB instance 2
-float32 baro_offset_2		# barometric pressure offsets in the sensor frame in m/s/s
-float32 baro_scale_2		# barometric pressure scale factors in the sensor frame
-
-# Mapping from uORB index to parameter index for each sensor type. For example accel_mapping[1] contains the
-# compensation parameter system index for the sensor_accel uORB index 1 data.
-uint8[3] gyro_mapping
-uint8[3] accel_mapping
-uint8[3] baro_mapping
-
-uint32[3] gyro_device_ids
-uint32[3] accel_device_ids
 uint32[3] baro_device_ids
+float32 baro_offset_0		# barometric pressure 0 offsets in the sensor frame in m/s/s
+float32 baro_offset_1		# barometric pressure 1 offsets in the sensor frame in m/s/s
+float32 baro_offset_2		# barometric pressure 2 offsets in the sensor frame in m/s/s

src/drivers/drv_mixer.h

@@ -85,4 +85,4 @@
  * - save/serialise for saving tuned mixers.
  */
 
-#endif /* _DRV_ACCEL_H */
+#endif /* _DRV_MIXER_H */

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>