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move initial sensor priority to parameters and purge ORB_PRIORITY

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- CAL_ACCx_EN -> CAL_ACCx_PRIO
 - CAL_GYROx_EN -> CAL_GYROx_PRIO
 - CAL_MAGx_EN -> CAL_MAGx_PRIO
This commit is contained in:
Daniel Agar
2020-08-21 10:12:13 -04:00
parent 971b1e4b4d
commit 27f23ac290
124 changed files with 463 additions and 509 deletions
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src/drivers/uavcan/sensors/baro.cpp
+1 -1
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@@ -117,7 +117,7 @@ int UavcanBarometerBridge::init_driver(uavcan_bridge::Channel *channel)
device_id.devid_s.devtype = DRV_BARO_DEVTYPE_UAVCAN;
device_id.devid_s.address = static_cast<uint8_t>(channel->node_id);
channel->h_driver = new PX4Barometer(device_id.devid, ORB_PRIO_HIGH);
channel->h_driver = new PX4Barometer(device_id.devid);
if (channel->h_driver == nullptr) {
return PX4_ERROR;
src/drivers/uavcan/sensors/gnss.hpp
+1 -1
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@@ -114,7 +114,7 @@ private:
float _last_gnss_auxiliary_hdop{0.0f};
float _last_gnss_auxiliary_vdop{0.0f};
uORB::PublicationMulti<vehicle_gps_position_s> _gps_pub{ORB_ID(vehicle_gps_position), ORB_PRIO_DEFAULT};
uORB::PublicationMulti<vehicle_gps_position_s> _gps_pub{ORB_ID(vehicle_gps_position)};
uORB::Subscription _orb_sub_gnss{ORB_ID(vehicle_gps_position)};
int _receiver_node_id{-1};
src/drivers/uavcan/sensors/mag.cpp
+1 -1
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@@ -148,7 +148,7 @@ int UavcanMagnetometerBridge::init_driver(uavcan_bridge::Channel *channel)
device_id.devid_s.devtype = DRV_MAG_DEVTYPE_UAVCAN;
device_id.devid_s.address = static_cast<uint8_t>(channel->node_id);
channel->h_driver = new PX4Magnetometer(device_id.devid, ORB_PRIO_HIGH, ROTATION_NONE);
channel->h_driver = new PX4Magnetometer(device_id.devid, ROTATION_NONE);
if (channel->h_driver == nullptr) {
return PX4_ERROR;
src/drivers/uavcan/sensors/sensor_bridge.cpp
+1 -1
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@@ -130,7 +130,7 @@ UavcanCDevSensorBridgeBase::publish(const int node_id, const void *report)
channel->class_instance = class_instance;
DEVICE_LOG("channel %d class instance %d ok", channel->node_id, channel->class_instance);
channel->orb_advert = orb_advertise_multi(_orb_topic, report, &channel->orb_instance, ORB_PRIO_VERY_HIGH);
channel->orb_advert = orb_advertise_multi(_orb_topic, report, &channel->orb_instance);
if (channel->orb_advert == nullptr) {
DEVICE_LOG("uORB advertise failed. Out of instances?");