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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/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp
+19 -1
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@@ -122,6 +122,24 @@ void VehicleMagnetometer::ParametersUpdate(bool force)
}
_mag_comp_type = mag_comp_typ;
// update mag priority (CAL_MAGx_PRIO)
for (int mag = 0; mag < MAX_SENSOR_COUNT; mag++) {
const int32_t priority_old = _calibration[mag].priority();
_calibration[mag].ParametersUpdate();
const int32_t priority_new = _calibration[mag].priority();
if (priority_old != priority_new) {
if (_priority[mag] == priority_old) {
_priority[mag] = priority_new;
} else {
// change relative priority to incorporate any sensor faults
int priority_change = priority_new - priority_old;
_priority[mag] = math::constrain(_priority[mag] + priority_change, 1, 100);
}
}
}
}
}
@@ -207,7 +225,7 @@ void VehicleMagnetometer::Run()
if (_calibration[uorb_index].device_id() != report.device_id) {
_calibration[uorb_index].set_external(report.is_external);
_calibration[uorb_index].set_device_id(report.device_id);
_priority[uorb_index] = _sensor_sub[uorb_index].get_priority();
_priority[uorb_index] = _calibration[uorb_index].priority();
}
if (_calibration[uorb_index].enabled()) {