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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/lib/sensor_calibration/Accelerometer.hpp
+6 -2
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@@ -47,6 +47,9 @@ class Accelerometer
public:
static constexpr int MAX_SENSOR_COUNT = 3;
static constexpr uint8_t DEFAULT_PRIORITY = 50;
static constexpr uint8_t DEFAULT_EXTERNAL_PRIORITY = 75;
static constexpr const char *SensorString() { return "ACC"; }
Accelerometer();
@@ -63,8 +66,9 @@ public:
void set_scale(const matrix::Vector3f &scale) { _scale = scale; }
uint32_t device_id() const { return _device_id; }
bool enabled() const { return _enabled; }
bool enabled() const { return (_priority > 0); }
bool external() const { return _external; }
const int32_t &priority() const { return _priority; }
const matrix::Dcmf &rotation() const { return _rotation; }
// apply offsets and scale
@@ -91,8 +95,8 @@ private:
int8_t _calibration_index{-1};
uint32_t _device_id{0};
int32_t _priority{DEFAULT_PRIORITY};
bool _enabled{true};
bool _external{false};
};
} // namespace calibration