Merge pull request #1134 from bitcraze/krichardsson/clean-params

Remove space in log and param names
bitcraze · Oct 11, 2022 · d7786ad · d7786ad
2 parents ed4b826 + 5faaae3
commit d7786ad
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Showing 3 changed files with 15 additions and 9 deletions.
diff --git a/src/hal/src/sensors_bmi088_bmp388.c b/src/hal/src/sensors_bmi088_bmp388.c
@@ -327,7 +327,7 @@ static void sensorsTask(void *param)
       measurement.type = MeasurementTypeGyroscope;
       measurement.data.gyroscope.gyro = sensorData.gyro;
       estimatorEnqueue(&measurement);
-      
+
       /* Acelerometer */
       accScaledIMU.x = accelRaw.x * SENSORS_BMI088_G_PER_LSB_CFG / accScale;
       accScaledIMU.y = accelRaw.y * SENSORS_BMI088_G_PER_LSB_CFG / accScale;
@@ -1005,16 +1005,16 @@ PARAM_ADD(PARAM_UINT8 | PARAM_RONLY, BMP388, &isBarometerPresent)
 /**
  * @brief Euler angle Phi defining IMU orientation on the airframe (in degrees)
  */
-PARAM_ADD(PARAM_FLOAT | PARAM_PERSISTENT, IMU Phi, &imuPhi)
+PARAM_ADD(PARAM_FLOAT | PARAM_PERSISTENT, imuPhi, &imuPhi)
 
 /**
  * @brief Euler angle Theta defining IMU orientation on the airframe (in degrees)
  */
-PARAM_ADD(PARAM_FLOAT | PARAM_PERSISTENT, IMU Theta, &imuTheta)
+PARAM_ADD(PARAM_FLOAT | PARAM_PERSISTENT, imuTheta, &imuTheta)
 
 /**
  * @brief Euler angle Psi defining IMU orientation on the airframe (in degrees)
  */
-PARAM_ADD(PARAM_FLOAT | PARAM_PERSISTENT, IMU Psi, &imuPsi)
+PARAM_ADD(PARAM_FLOAT | PARAM_PERSISTENT, imuPsi, &imuPsi)
 
 PARAM_GROUP_STOP(imu_sensors)
diff --git a/src/hal/src/sensors_mpu9250_lps25h.c b/src/hal/src/sensors_mpu9250_lps25h.c
@@ -715,7 +715,7 @@ static void sensorsCalculateVarianceAndMean(BiasObj* bias, Axis3f* varOut, Axis3
     sumSq[2] += bias->buffer[i].z * bias->buffer[i].z;
   }
 
-  
+
   meanOut->x = (float) sum[0] / SENSORS_NBR_OF_BIAS_SAMPLES;
   meanOut->y = (float) sum[1] / SENSORS_NBR_OF_BIAS_SAMPLES;
   meanOut->z = (float) sum[2] / SENSORS_NBR_OF_BIAS_SAMPLES;
@@ -870,7 +870,7 @@ static void sensorsAlignToAirframe(Axis3f* in, Axis3f* out)
 {
   // IMU alignment
   static float sphi, cphi, stheta, ctheta, spsi, cpsi;
-   
+
   sphi   = sinf(imuPhi * (float) M_PI / 180);
   cphi   = cosf(imuPhi * (float) M_PI / 180);
   stheta = sinf(imuTheta * (float) M_PI / 180);
@@ -998,16 +998,16 @@ PARAM_ADD(PARAM_UINT8 | PARAM_RONLY, LPS25H, &isLPS25HTestPassed)
 /**
  * @brief Euler angle Phi defining IMU orientation on the airframe (in degrees)
  */
-PARAM_ADD(PARAM_FLOAT | PARAM_PERSISTENT, IMU Phi, &imuPhi)
+PARAM_ADD(PARAM_FLOAT | PARAM_PERSISTENT, imuPhi, &imuPhi)
 
 /**
  * @brief Euler angle Theta defining IMU orientation on the airframe (in degrees)
  */
-PARAM_ADD(PARAM_FLOAT | PARAM_PERSISTENT, IMU Theta, &imuTheta)
+PARAM_ADD(PARAM_FLOAT | PARAM_PERSISTENT, imuTheta, &imuTheta)
 
 /**
  * @brief Euler angle Psi defining IMU orientation on the airframe (in degrees)
  */
-PARAM_ADD(PARAM_FLOAT | PARAM_PERSISTENT, IMU Psi, &imuPsi)
+PARAM_ADD(PARAM_FLOAT | PARAM_PERSISTENT, imuPsi, &imuPsi)
 
 PARAM_GROUP_STOP(imu_tests)
diff --git a/tools/verify/elf_sanity.py b/tools/verify/elf_sanity.py
@@ -187,6 +187,12 @@ def check_structs(stream, what: str, core: bool) -> dict:
                       file=sys.stderr)
                 sys.exit(1)
 
+            # Parameter and log names must not contain space as they are mapped to topic in ROS that does not support
+            # space.
+            if ' ' in name:
+                print(f'{Colors.RED}Name contains space(s){Colors.END} ("{name}")', file=sys.stderr)
+                sys.exit(1)
+
         offset += struct_len
     return name_type_dict