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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/modules/commander/gyro_calibration.cpp
-13
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@@ -212,9 +212,6 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
gyro_worker_data_t worker_data{};
worker_data.mavlink_log_pub = mavlink_log_pub;
ORB_PRIO device_prio_max = ORB_PRIO_UNINITIALIZED;
int32_t device_id_primary = 0;
// We should not try to subscribe if the topic doesn't actually exist and can be counted.
const unsigned orb_gyro_count = orb_group_count(ORB_ID(sensor_gyro));
@@ -232,14 +229,6 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
if (gyro_sub.advertised() && (gyro_sub.get().device_id != 0) && (gyro_sub.get().timestamp > 0)) {
worker_data.calibrations[cur_gyro].set_device_id(gyro_sub.get().device_id);
// Get priority
const ORB_PRIO prio = gyro_sub.get_priority();
if (prio > device_prio_max) {
device_prio_max = prio;
device_id_primary = gyro_sub.get().device_id;
}
}
// reset calibration index to match uORB numbering
@@ -317,8 +306,6 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
calibration.ParametersSave();
}
param_set_no_notification(param_find("CAL_GYRO_PRIME"), &device_id_primary);
if (failed) {
calibration_log_critical(mavlink_log_pub, "ERROR: failed to set offset params");
res = PX4_ERROR;