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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
2020-08-16 22:21:04 -04:00
parent 971b1e4b4d
commit 27f23ac290
124 changed files with 463 additions and 509 deletions
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src/lib/parameters/param_translation.cpp
+39 -4
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@@ -60,6 +60,44 @@ bool param_modify_on_import(bson_node_t node)
}
}
// 2020-06-29 (v1.11 beta): translate CAL_ACCx_EN/CAL_GYROx_EN/CAL_MAGx_EN -> CAL_ACCx_PRIO/CAL_GYROx_PRIO/CAL_MAGx_PRIO
if (node->type == BSON_INT32) {
const char *cal_sensor_en_params[] = {
"CAL_ACC0_EN",
"CAL_ACC1_EN",
"CAL_ACC2_EN",
"CAL_GYRO0_EN",
"CAL_GYRO1_EN",
"CAL_GYRO2_EN",
"CAL_MAG0_EN",
"CAL_MAG1_EN",
"CAL_MAG2_EN",
"CAL_MAG3_EN",
};
for (int i = 0; i < sizeof(cal_sensor_en_params) / sizeof(cal_sensor_en_params[0]); ++i) {
if (strcmp(cal_sensor_en_params[i], node->name) == 0) {
char new_parameter_name[17] {};
strcpy(new_parameter_name, cal_sensor_en_params[i]);
char *str_replace = strstr(new_parameter_name, "_EN");
if (str_replace != nullptr) {
strcpy(str_replace, "_PRIO");
PX4_INFO("%s -> %s", cal_sensor_en_params[i], new_parameter_name);
strcpy(node->name, new_parameter_name);
}
// if sensor wasn't disabled, reset to -1 so that it can be set to an appropriate default
if (node->i != 0) {
node->i = -1; // special value to process later
}
}
}
}
// translate (SPI) calibration ID parameters. This can be removed after the next release (current release=1.10)
@@ -87,10 +125,7 @@ bool param_modify_on_import(bson_node_t node)
"CAL_MAG2_ID",
"TC_A2_ID",
"TC_B2_ID",
"TC_G2_ID",
"CAL_ACC_PRIME",
"CAL_GYRO_PRIME",
"CAL_MAG_PRIME",
"TC_G2_ID"
};
bool found = false;