fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-04 04:40:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

accel/gyro/mag calibration set default priority uninitialized

Browse Source 
- this allows the default priority to be set differently for internal/external sensors
 - accel and gyro initialize default priority like mag in preparation for fully supporting external sensors
 - fixes #15652
This commit is contained in:
Daniel Agar
2020-09-13 21:02:53 -04:00
committed by GitHub
parent d70e183f5b
commit 13db2ebb2b
18 changed files with 86 additions and 36 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/sensor_calibration/Magnetometer.cpp
+5 -5
View File
@@ -50,14 +50,14 @@ Magnetometer::Magnetometer()
Magnetometer::Magnetometer(uint32_t device_id, bool external)
{
set_external(external);
Reset();
set_device_id(device_id);
set_device_id(device_id, external);
}
void Magnetometer::set_device_id(uint32_t device_id)
void Magnetometer::set_device_id(uint32_t device_id, bool external)
{
if (_device_id != device_id) {
if (_device_id != device_id || _external != external) {
set_external(external);
_device_id = device_id;
ParametersUpdate();
}
@@ -66,7 +66,7 @@ void Magnetometer::set_device_id(uint32_t device_id)
void Magnetometer::set_external(bool external)
{
// update priority default appropriately if not set
if (_calibration_index < 0) {
if (_calibration_index < 0 || _priority < 0) {
if ((_priority < 0) || (_priority > 100)) {
_priority = external ? DEFAULT_EXTERNAL_PRIORITY : DEFAULT_PRIORITY;