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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/sensor_calibration/Gyroscope.cpp
+18 -5
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@@ -118,9 +118,15 @@ void Gyroscope::ParametersUpdate()
_rotation.setIdentity();
}
// CAL_GYROx_EN
int32_t enabled = GetCalibrationParam(SensorString(), "EN", _calibration_index);
_enabled = (enabled == 1);
// CAL_GYROx_PRIO
_priority = GetCalibrationParam(SensorString(), "PRIO", _calibration_index);
if (_priority < 0 || _priority > 100) {
// reset to default
PX4_ERR("%s %d invalid priority %d, resetting to %d", SensorString(), _calibration_index, _priority, DEFAULT_PRIORITY);
SetCalibrationParam(SensorString(), "PRIO", _calibration_index, DEFAULT_PRIORITY);
_priority = DEFAULT_PRIORITY;
}
// CAL_GYROx_OFF{X,Y,Z}
_offset = GetCalibrationParamsVector3f(SensorString(), "OFF", _calibration_index);
@@ -136,7 +142,7 @@ void Gyroscope::Reset()
_offset.zero();
_thermal_offset.zero();
_enabled = true;
_priority = _external ? DEFAULT_EXTERNAL_PRIORITY : DEFAULT_PRIORITY;
_calibration_index = -1;
}
@@ -146,9 +152,16 @@ bool Gyroscope::ParametersSave()
if (_calibration_index >= 0) {
// save calibration
SetCalibrationParam(SensorString(), "ID", _calibration_index, _device_id);
SetCalibrationParam(SensorString(), "EN", _calibration_index, _enabled ? 1 : 0);
SetCalibrationParam(SensorString(), "PRIO", _calibration_index, _priority);
SetCalibrationParamsVector3f(SensorString(), "OFF", _calibration_index, _offset);
// if (_external) {
// SetCalibrationParam(SensorString(), "ROT", _calibration_index, (int32_t)_rotation_enum);
// } else {
// SetCalibrationParam(SensorString(), "ROT", _calibration_index, -1);
// }
return true;
}