text: /****************************************************************************
   *
   *   Copyright (c) 2012-2020 PX4 Development Team. All rights reserved.
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions
   * are met:
   *
   * 1. Redistributions of source code must retain the above copyright
   *    notice, this list of conditions and the following disclaimer.
   * 2. Redistributions in binary form must reproduce the above copyright
   *    notice, this list of conditions and the following disclaimer in
   *    the documentation and/or other materials provided with the
   *    distribution.
   * 3. Neither the name PX4 nor the names of its contributors may be
   *    used to endorse or promote products derived from this software
   *    without specific prior written permission.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
   * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
   * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
   * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
   * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
   * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
   * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
   * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
   * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   * POSSIBILITY OF SUCH DAMAGE.
   *
   ****************************************************************************/
  
  /**
   * ID of the Accelerometer that the calibration is for.
   *
   * @category system
   * @group Sensor Calibration
   */
  PARAM_DEFINE_INT32(CAL_ACC0_ID, 0);
  
  /**
   * Accelerometer 0 priority.
   *
   * @value -1  Uninitialized
   * @value 0   Disabled
   * @value 1   Min
   * @value 25  Low
   * @value 50  Medium (Default)
   * @value 75  High
   * @value 100 Max
   *
   * @category system
   * @group Sensor Calibration
   */
  PARAM_DEFINE_INT32(CAL_ACC0_PRIO, -1);
  
  /**
   * Rotation of accelerometer 0 relative to airframe.
   *
   * An internal sensor will force a value of -1, so a GCS
   * should only attempt to configure the rotation if the value is
   * greater than or equal to zero.
   *
   * @value -1 Internal
   * @value 0 No rotation
   * @value 1 Yaw 45°
   * @value 2 Yaw 90°
   * @value 3 Yaw 135°
   * @value 4 Yaw 180°
   * @value 5 Yaw 225°
   * @value 6 Yaw 270°
   * @value 7 Yaw 315°
   * @value 8 Roll 180°
   * @value 9 Roll 180°, Yaw 45°
   * @value 10 Roll 180°, Yaw 90°
   * @value 11 Roll 180°, Yaw 135°
   * @value 12 Pitch 180°
   * @value 13 Roll 180°, Yaw 225°
   * @value 14 Roll 180°, Yaw 270°
   * @value 15 Roll 180°, Yaw 315°
   * @value 16 Roll 90°
   * @value 17 Roll 90°, Yaw 45°
   * @value 18 Roll 90°, Yaw 90°
   * @value 19 Roll 90°, Yaw 135°
   * @value 20 Roll 270°
   * @value 21 Roll 270°, Yaw 45°
   * @value 22 Roll 270°, Yaw 90°
   * @value 23 Roll 270°, Yaw 135°
   * @value 24 Pitch 90°
   * @value 25 Pitch 270°
   * @value 26 Pitch 180°, Yaw 90°
   * @value 27 Pitch 180°, Yaw 270°
   * @value 28 Roll 90°, Pitch 90°
   * @value 29 Roll 180°, Pitch 90°
   * @value 30 Roll 270°, Pitch 90°
   * @value 31 Roll 90°, Pitch 180°
   * @value 32 Roll 270°, Pitch 180°
   * @value 33 Roll 90°, Pitch 270°
   * @value 34 Roll 180°, Pitch 270°
   * @value 35 Roll 270°, Pitch 270°
   * @value 36 Roll 90°, Pitch 180°, Yaw 90°
   * @value 37 Roll 90°, Yaw 270°
   * @value 38 Roll 90°, Pitch 68°, Yaw 293°
   * @value 39 Pitch 315°
   * @value 40 Roll 90°, Pitch 315°
   *
   * @min -1
   * @max 40
   * @reboot_required true
   * @category system
   * @group Sensor Calibration
   */
  PARAM_DEFINE_INT32(CAL_ACC0_ROT, -1);
  
  /**
   * Accelerometer X-axis offset
   *
   * @category system
   * @group Sensor Calibration
   * @volatile
   */
  PARAM_DEFINE_FLOAT(CAL_ACC0_XOFF, 0.0f);
  
  /**
   * Accelerometer Y-axis offset
   *
   * @category system
   * @group Sensor Calibration
   * @volatile
   */
  PARAM_DEFINE_FLOAT(CAL_ACC0_YOFF, 0.0f);
  
  /**
   * Accelerometer Z-axis offset
   *
   * @category system
   * @group Sensor Calibration
   * @volatile
   */
  PARAM_DEFINE_FLOAT(CAL_ACC0_ZOFF, 0.0f);
  
  /**
   * Accelerometer X-axis scaling factor
   *
   * @category system
   * @group Sensor Calibration
   * @volatile
   */
  PARAM_DEFINE_FLOAT(CAL_ACC0_XSCALE, 1.0f);
  
  /**
   * Accelerometer Y-axis scaling factor
   *
   * @category system
   * @group Sensor Calibration
   * @volatile
   */
  PARAM_DEFINE_FLOAT(CAL_ACC0_YSCALE, 1.0f);
  
  /**
   * Accelerometer Z-axis scaling factor
   *
   * @category system
   * @group Sensor Calibration
   * @volatile
   */
  PARAM_DEFINE_FLOAT(CAL_ACC0_ZSCALE, 1.0f);
  
  /**
   * Accelerometer calibration temperature
   *
   * Temperature during last calibration.
   *
   * @unit celcius
   * @category system
   * @group Sensor Calibration
   * @volatile
   */
  PARAM_DEFINE_FLOAT(CAL_ACC0_TEMP, -1000.f);
  