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sensors/calibration: use params in DF wrappers

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Instead of using a uORB topic with the calibration values published in
sensors and consumed by the DriverFramework driver wrappers, let's just
use the the params directly. This is quite a rough change and needs
definitely some cleanup and refactoring.
This commit is contained in:
Julian Oes
2016-03-24 13:08:31 +01:00
parent aa9d698204
commit 1b5210ca13
16 changed files with 513 additions and 242 deletions
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src/modules/sensors/sensors.cpp
+3 -36
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@@ -100,9 +100,6 @@
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/rc_parameter_map.h>
#include <uORB/topics/gyro_calibration.h>
#include <uORB/topics/accel_calibration.h>
#include <uORB/topics/mag_calibration.h>
#include <DevMgr.hpp>
@@ -1530,17 +1527,7 @@ Sensors::apply_gyro_calibration(DevHandle &h, const struct gyro_calibration_s *g
}
#else
/* On QURT, we can't use the ioctl calls, therefore we publish the calibration over uORB. */
static orb_advert_t gyro_calibration_pub = nullptr;
if (gyro_calibration_pub != nullptr) {
orb_publish(ORB_ID(gyro_calibration), gyro_calibration_pub, gcal);
} else {
gyro_calibration_pub = orb_advertise(ORB_ID(gyro_calibration), gcal);
}
/* On QURT, the params are read directly in the respective wrappers. */
return true;
#endif
}
@@ -1561,17 +1548,7 @@ Sensors::apply_accel_calibration(DevHandle &h, const struct accel_calibration_s
}
#else
/* On QURT, we can't use the ioctl calls, therefore we publish the calibration over uORB. */
static orb_advert_t accel_calibration_pub = nullptr;
if (accel_calibration_pub != nullptr) {
orb_publish(ORB_ID(accel_calibration), accel_calibration_pub, acal);
} else {
accel_calibration_pub = orb_advertise(ORB_ID(accel_calibration), acal);
}
/* On QURT, the params are read directly in the respective wrappers. */
return true;
#endif
}
@@ -1592,17 +1569,7 @@ Sensors::apply_mag_calibration(DevHandle &h, const struct mag_calibration_s *mca
}
#else
/* On QURT, we can't use the ioctl calls, therefore we publish the calibration over uORB. */
static orb_advert_t mag_calibration_pub = nullptr;
if (mag_calibration_pub != nullptr) {
orb_publish(ORB_ID(mag_calibration), mag_calibration_pub, mcal);
} else {
mag_calibration_pub = orb_advertise(ORB_ID(mag_calibration), mcal);
}
/* On QURT, the params are read directly in the respective wrappers. */
return true;
#endif
}