move initial sensor priority to parameters and purge ORB_PRIORITY

- CAL_ACCx_EN -> CAL_ACCx_PRIO
 - CAL_GYROx_EN -> CAL_GYROx_PRIO
 - CAL_MAGx_EN -> CAL_MAGx_PRIO

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -122,13 +122,8 @@ then
 	param set BAT_N_CELLS 3
 
 	param set CAL_ACC0_ID 1311244
-	param set CAL_ACC_PRIME 1311244
-
 	param set CAL_GYRO0_ID 1311244
-	param set CAL_GYRO_PRIME 1311244
-
 	param set CAL_MAG0_ID 197388
-	param set CAL_MAG_PRIME 197388
 
 	param set CBRK_AIRSPD_CHK 0
 	param set CBRK_SUPPLY_CHK 894281

ROMFS/px4fmu_common/init.d/airframes/4250_teal

@@ -186,17 +186,11 @@ then
 	param set RTL_RETURN_ALT 25
 
 	# calibration
-	param set CAL_ACC0_EN 1
+	param set CAL_ACC0_PRIO 255
-	param set CAL_ACC1_EN 0
+	param set CAL_ACC1_PRIO 0
-	#mpu6500
-	param set CAL_ACC_PRIME 1442826
 
-	param set CAL_GYRO0_EN 1
+	param set CAL_GYRO0_PRIO 255
-	param set CAL_GYRO1_EN 0
+	param set CAL_GYRO1_PRIO 0
-	#mpu6500
-	param set CAL_GYRO_PRIME 2360330
-
-	param set CAL_MAG_PRIME 265738
 fi
 
 # Logger mode. Default(1) + estimator replay(2) + thermal calibration(4)

src/drivers/distance_sensor/cm8jl65/CM8JL65.cpp

@@ -87,7 +87,7 @@ static constexpr unsigned char crc_lsb_vector[] = {
 
 CM8JL65::CM8JL65(const char *port, uint8_t rotation) :
 	ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(port)),
-	_px4_rangefinder(0 /* TODO: device ids */, ORB_PRIO_DEFAULT, rotation)
+	_px4_rangefinder(0 /* TODO: device ids */, rotation)
 {
 	// Store the port name.
 	strncpy(_port, port, sizeof(_port) - 1);

src/drivers/distance_sensor/leddar_one/LeddarOne.cpp

@@ -39,7 +39,7 @@
 
 LeddarOne::LeddarOne(const char *serial_port, uint8_t device_orientation):
 	ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(serial_port)),
-	_px4_rangefinder(0 /* device id not yet used */, ORB_PRIO_DEFAULT, device_orientation)
+	_px4_rangefinder(0 /* device id not yet used */, device_orientation)
 {
 	_serial_port = strdup(serial_port);
 

src/drivers/distance_sensor/ll40ls/LidarLiteI2C.cpp

@@ -45,7 +45,7 @@ LidarLiteI2C::LidarLiteI2C(I2CSPIBusOption bus_option, const int bus, const uint
 			   const int address) :
 	I2C(DRV_RNG_DEVTYPE_LL40LS, MODULE_NAME, bus, address, bus_frequency),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_px4_rangefinder(get_device_id(), ORB_PRIO_DEFAULT, rotation)
+	_px4_rangefinder(get_device_id(), rotation)
 {
 	_px4_rangefinder.set_min_distance(LL40LS_MIN_DISTANCE);
 	_px4_rangefinder.set_max_distance(LL40LS_MAX_DISTANCE);

src/drivers/distance_sensor/ll40ls_pwm/LidarLitePWM.cpp

@@ -50,7 +50,7 @@
 
 LidarLitePWM::LidarLitePWM(const uint8_t rotation) :
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default),
-	_px4_rangefinder(0 /* device id not yet used */, ORB_PRIO_DEFAULT, rotation)
+	_px4_rangefinder(0 /* device id not yet used */, rotation)
 {
 	_px4_rangefinder.set_min_distance(LL40LS_MIN_DISTANCE);
 	_px4_rangefinder.set_max_distance(LL40LS_MAX_DISTANCE);

src/drivers/distance_sensor/mappydot/MappyDot.cpp

@@ -275,8 +275,7 @@ MappyDot::collect()
 		report.variance         = 0;
 
 		int instance_id;
-		orb_publish_auto(ORB_ID(distance_sensor), &_distance_sensor_topic, &report, &instance_id, ORB_PRIO_DEFAULT);
+		orb_publish_auto(ORB_ID(distance_sensor), &_distance_sensor_topic, &report, &instance_id);
-
 	}
 
 	perf_end(_sample_perf);

src/drivers/distance_sensor/mb12xx/mb12xx.cpp

@@ -233,7 +233,7 @@ MB12XX::collect()
 	report.variance         = 0.0f;
 
 	int instance_id;
-	orb_publish_auto(ORB_ID(distance_sensor), &_distance_sensor_topic, &report, &instance_id, ORB_PRIO_DEFAULT);
+	orb_publish_auto(ORB_ID(distance_sensor), &_distance_sensor_topic, &report, &instance_id);
 
 	// Begin the next measurement.
 	if (measure() != PX4_OK) {

src/drivers/distance_sensor/sf0x/SF0X.cpp

@@ -41,7 +41,7 @@
 
 SF0X::SF0X(const char *port, uint8_t rotation) :
 	ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(port)),
-	_px4_rangefinder(0 /* device id not yet used */, ORB_PRIO_DEFAULT, rotation),
+	_px4_rangefinder(0 /* device id not yet used */, rotation),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
 	_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": com_err"))
 {

src/drivers/distance_sensor/sf1xx/sf1xx.cpp

@@ -117,7 +117,7 @@ private:
 SF1XX::SF1XX(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency, int address) :
 	I2C(DRV_DIST_DEVTYPE_SF1XX, MODULE_NAME, bus, address, bus_frequency),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_px4_rangefinder(DRV_DIST_DEVTYPE_SF1XX, ORB_PRIO_DEFAULT, rotation)
+	_px4_rangefinder(DRV_DIST_DEVTYPE_SF1XX, rotation)
 {
 }
 

src/drivers/distance_sensor/srf02/SRF02.cpp

@@ -36,7 +36,7 @@
 SRF02::SRF02(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency, int address) :
 	I2C(DRV_DIST_DEVTYPE_SRF02, MODULE_NAME, bus, address, bus_frequency),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_px4_rangefinder(get_device_id(), ORB_PRIO_DEFAULT, rotation)
+	_px4_rangefinder(get_device_id(), rotation)
 {
 	_px4_rangefinder.set_max_distance(SRF02_MAX_DISTANCE);
 	_px4_rangefinder.set_min_distance(SRF02_MIN_DISTANCE);

src/drivers/distance_sensor/teraranger/TERARANGER.cpp

@@ -76,7 +76,7 @@ static uint8_t crc8(uint8_t *p, uint8_t len)
 TERARANGER::TERARANGER(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency) :
 	I2C(DRV_DIST_DEVTYPE_TERARANGER, MODULE_NAME, bus, TERARANGER_ONE_BASEADDR, bus_frequency),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_px4_rangefinder(get_device_id(), ORB_PRIO_DEFAULT, rotation)
+	_px4_rangefinder(get_device_id(), rotation)
 {
 	// up the retries since the device misses the first measure attempts
 	I2C::_retries = 3;

src/drivers/distance_sensor/tfmini/TFMINI.cpp

@@ -37,7 +37,7 @@
 
 TFMINI::TFMINI(const char *port, uint8_t rotation) :
 	ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(port)),
-	_px4_rangefinder(0 /* TODO: device id */, ORB_PRIO_DEFAULT, rotation)
+	_px4_rangefinder(0 /* TODO: device id */, rotation)
 {
 	// store port name
 	strncpy(_port, port, sizeof(_port) - 1);

src/drivers/distance_sensor/ulanding_radar/AerotennaULanding.cpp

@@ -35,7 +35,7 @@
 
 AerotennaULanding::AerotennaULanding(const char *port, uint8_t rotation) :
 	ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(port)),
-	_px4_rangefinder(0 /* TODO: device ids */, ORB_PRIO_DEFAULT, rotation)
+	_px4_rangefinder(0 /* TODO: device ids */, rotation)
 {
 	/* store port name */
 	strncpy(_port, port, sizeof(_port) - 1);

src/drivers/distance_sensor/vl53l0x/VL53L0X.cpp

@@ -62,7 +62,7 @@
 VL53L0X::VL53L0X(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency, int address) :
 	I2C(DRV_DIST_DEVTYPE_VL53L0X, MODULE_NAME, bus, address, bus_frequency),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_px4_rangefinder(0 /* device id not yet used */, ORB_PRIO_DEFAULT, rotation)
+	_px4_rangefinder(0 /* device id not yet used */, rotation)
 {
 	// VL53L0X typical range 0-2 meters with 25 degree field of view
 	_px4_rangefinder.set_min_distance(0.f);

src/drivers/imu/adis16448/ADIS16448.cpp

@@ -41,10 +41,10 @@ ADIS16448::ADIS16448(I2CSPIBusOption bus_option, int bus, int32_t device, enum R
 		     spi_mode_e spi_mode) :
 	SPI(DRV_IMU_DEVTYPE_ADIS16448, MODULE_NAME, bus, device, spi_mode, bus_frequency),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_px4_accel(get_device_id(), ORB_PRIO_MAX, rotation),
+	_px4_accel(get_device_id(), rotation),
-	_px4_baro(get_device_id(), ORB_PRIO_MAX),
+	_px4_baro(get_device_id()),
-	_px4_gyro(get_device_id(), ORB_PRIO_MAX, rotation),
+	_px4_gyro(get_device_id(), rotation),
-	_px4_mag(get_device_id(), ORB_PRIO_MAX, rotation)
+	_px4_mag(get_device_id(), rotation)
 {
 	_px4_accel.set_scale(ADIS16448_ACCEL_SENSITIVITY);
 	_px4_gyro.set_scale(ADIS16448_GYRO_INITIAL_SENSITIVITY);

src/drivers/imu/adis16477/ADIS16477.cpp

@@ -57,8 +57,8 @@ ADIS16477::ADIS16477(I2CSPIBusOption bus_option, int bus, int32_t device, enum R
 		     spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
 	SPI(DRV_IMU_DEVTYPE_ADIS16477, MODULE_NAME, bus, device, spi_mode, bus_frequency),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_px4_accel(get_device_id(), ORB_PRIO_MAX, rotation),
+	_px4_accel(get_device_id(), rotation),
-	_px4_gyro(get_device_id(), ORB_PRIO_MAX, rotation),
+	_px4_gyro(get_device_id(), rotation),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
 	_bad_transfers(perf_alloc(PC_COUNT, MODULE_NAME": bad transfers")),
 	_drdy_gpio(drdy_gpio)

src/drivers/imu/adis16497/ADIS16497.cpp

@@ -74,8 +74,8 @@ ADIS16497::ADIS16497(I2CSPIBusOption bus_option, int bus, int32_t device, enum R
 		     spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
 	SPI(DRV_IMU_DEVTYPE_ADIS16497, MODULE_NAME, bus, device, spi_mode, bus_frequency),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_px4_accel(get_device_id(), ORB_PRIO_MAX, rotation),
+	_px4_accel(get_device_id(), rotation),
-	_px4_gyro(get_device_id(), ORB_PRIO_MAX, rotation),
+	_px4_gyro(get_device_id(), rotation),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
 	_bad_transfers(perf_alloc(PC_COUNT, MODULE_NAME": bad transfers")),
 	_drdy_gpio(drdy_gpio)

src/drivers/imu/bma180/bma180.cpp

@@ -179,7 +179,7 @@ BMA180::BMA180(I2CSPIBusOption bus_option, int bus, int32_t device, enum Rotatio
 	       spi_mode_e spi_mode) :
 	SPI(DRV_ACC_DEVTYPE_BMA180, MODULE_NAME, bus, device, spi_mode, bus_frequency),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_px4_accel(get_device_id(), ORB_PRIO_MAX, rotation),
+	_px4_accel(get_device_id(), rotation),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read"))
 {
 }

src/drivers/imu/bmi160/bmi160.cpp

@@ -53,15 +53,15 @@ BMI160::BMI160(I2CSPIBusOption bus_option, int bus, int32_t device, enum Rotatio
 	       spi_mode_e spi_mode) :
 	SPI(DRV_IMU_DEVTYPE_BMI160, MODULE_NAME, bus, device, spi_mode, bus_frequency),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_px4_accel(get_device_id(), ORB_PRIO_DEFAULT, rotation),
+	_px4_accel(get_device_id(), rotation),
-	_px4_gyro(get_device_id(), ORB_PRIO_DEFAULT, rotation),
+	_px4_gyro(get_device_id(), rotation),
 	_accel_reads(perf_alloc(PC_COUNT, MODULE_NAME": accel read")),
-	_gyro_reads(perf_alloc(PC_COUNT, MODULE_NAME":gyro read")),
+	_gyro_reads(perf_alloc(PC_COUNT, MODULE_NAME": gyro read")),
-	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME":read")),
+	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
-	_bad_transfers(perf_alloc(PC_COUNT, MODULE_NAME":bad transfers")),
+	_bad_transfers(perf_alloc(PC_COUNT, MODULE_NAME": bad transfers")),
-	_bad_registers(perf_alloc(PC_COUNT, MODULE_NAME":bad registers")),
+	_bad_registers(perf_alloc(PC_COUNT, MODULE_NAME": bad registers")),
-	_good_transfers(perf_alloc(PC_COUNT, MODULE_NAME":good transfers")),
+	_good_transfers(perf_alloc(PC_COUNT, MODULE_NAME": good transfers")),
-	_reset_retries(perf_alloc(PC_COUNT, MODULE_NAME":reset retries")),
+	_reset_retries(perf_alloc(PC_COUNT, MODULE_NAME": reset retries")),
 	_duplicates(perf_alloc(PC_COUNT, MODULE_NAME": duplicates"))
 {
 }

src/drivers/imu/bosch/bmi055/BMI055_Accelerometer.cpp

@@ -43,7 +43,7 @@ namespace Bosch::BMI055::Accelerometer
 BMI055_Accelerometer::BMI055_Accelerometer(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation,
 		int bus_frequency, spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
 	BMI055(DRV_ACC_DEVTYPE_BMI055, "BMI055_Accelerometer", bus_option, bus, device, spi_mode, bus_frequency, drdy_gpio),
-	_px4_accel(get_device_id(), ORB_PRIO_DEFAULT, rotation)
+	_px4_accel(get_device_id(), rotation)
 {
 	if (drdy_gpio != 0) {
 		_drdy_interval_perf = perf_alloc(PC_INTERVAL, MODULE_NAME"_accel: DRDY interval");

src/drivers/imu/bosch/bmi055/BMI055_Gyroscope.cpp

@@ -43,7 +43,7 @@ namespace Bosch::BMI055::Gyroscope
 BMI055_Gyroscope::BMI055_Gyroscope(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation,
 				   int bus_frequency, spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
 	BMI055(DRV_GYR_DEVTYPE_BMI055, "BMI055_Gyroscope", bus_option, bus, device, spi_mode, bus_frequency, drdy_gpio),
-	_px4_gyro(get_device_id(), ORB_PRIO_DEFAULT, rotation)
+	_px4_gyro(get_device_id(), rotation)
 {
 	if (drdy_gpio != 0) {
 		_drdy_interval_perf = perf_alloc(PC_INTERVAL, MODULE_NAME"_gyro: DRDY interval");

src/drivers/imu/bosch/bmi088/BMI088_Accelerometer.cpp

@@ -43,7 +43,7 @@ namespace Bosch::BMI088::Accelerometer
 BMI088_Accelerometer::BMI088_Accelerometer(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation,
 		int bus_frequency, spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
 	BMI088(DRV_ACC_DEVTYPE_BMI088, "BMI088_Accelerometer", bus_option, bus, device, spi_mode, bus_frequency, drdy_gpio),
-	_px4_accel(get_device_id(), ORB_PRIO_HIGH, rotation)
+	_px4_accel(get_device_id(), rotation)
 {
 	if (drdy_gpio != 0) {
 		_drdy_interval_perf = perf_alloc(PC_INTERVAL, MODULE_NAME"_accel: DRDY interval");

src/drivers/imu/bosch/bmi088/BMI088_Gyroscope.cpp

@@ -43,7 +43,7 @@ namespace Bosch::BMI088::Gyroscope
 BMI088_Gyroscope::BMI088_Gyroscope(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation,
 				   int bus_frequency, spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
 	BMI088(DRV_GYR_DEVTYPE_BMI088, "BMI088_Gyroscope", bus_option, bus, device, spi_mode, bus_frequency, drdy_gpio),
-	_px4_gyro(get_device_id(), ORB_PRIO_HIGH, rotation)
+	_px4_gyro(get_device_id(), rotation)
 {
 	if (drdy_gpio != 0) {
 		_drdy_interval_perf = perf_alloc(PC_INTERVAL, MODULE_NAME"_gyro: DRDY interval");

src/drivers/imu/fxas21002c/FXAS21002C.cpp

@@ -69,7 +69,7 @@ FXAS21002C::FXAS21002C(device::Device *interface, I2CSPIBusOption bus_option, in
 		       int i2c_address) :
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus, i2c_address),
 	_interface(interface),
-	_px4_gyro(_interface->get_device_id(), (_interface->external() ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT), rotation),
+	_px4_gyro(_interface->get_device_id(), rotation),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
 	_errors(perf_alloc(PC_COUNT, MODULE_NAME": err")),
 	_bad_registers(perf_alloc(PC_COUNT, MODULE_NAME": bad register")),

src/drivers/imu/fxos8701cq/FXOS8701CQ.cpp

@@ -57,9 +57,9 @@ FXOS8701CQ::FXOS8701CQ(device::Device *interface, I2CSPIBusOption bus_option, in
 		       int i2c_address) :
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus, i2c_address),
 	_interface(interface),
-	_px4_accel(interface->get_device_id(), ORB_PRIO_LOW, rotation),
+	_px4_accel(interface->get_device_id(), rotation),
 #if !defined(BOARD_HAS_NOISY_FXOS8700_MAG)
-	_px4_mag(interface->get_device_id(), ORB_PRIO_LOW, rotation),
+	_px4_mag(interface->get_device_id(), rotation),
 	_mag_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": mag read")),
 #endif
 	_accel_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": acc read")),

src/drivers/imu/invensense/icm20602/ICM20602.cpp

@@ -45,8 +45,8 @@ ICM20602::ICM20602(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Ro
 	SPI(DRV_IMU_DEVTYPE_ICM20602, MODULE_NAME, bus, device, spi_mode, bus_frequency),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
 	_drdy_gpio(drdy_gpio),
-	_px4_accel(get_device_id(), ORB_PRIO_HIGH, rotation),
+	_px4_accel(get_device_id(), rotation),
-	_px4_gyro(get_device_id(), ORB_PRIO_HIGH, rotation)
+	_px4_gyro(get_device_id(), rotation)
 {
 	if (drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");

src/drivers/imu/invensense/icm20608g/ICM20608G.cpp

@@ -45,8 +45,8 @@ ICM20608G::ICM20608G(I2CSPIBusOption bus_option, int bus, uint32_t device, enum
 	SPI(DRV_IMU_DEVTYPE_ICM20608G, MODULE_NAME, bus, device, spi_mode, bus_frequency),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
 	_drdy_gpio(drdy_gpio),
-	_px4_accel(get_device_id(), ORB_PRIO_HIGH, rotation),
+	_px4_accel(get_device_id(), rotation),
-	_px4_gyro(get_device_id(), ORB_PRIO_HIGH, rotation)
+	_px4_gyro(get_device_id(), rotation)
 {
 	if (drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");

src/drivers/imu/invensense/icm20649/ICM20649.cpp

@@ -45,8 +45,8 @@ ICM20649::ICM20649(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Ro
 	SPI(DRV_IMU_DEVTYPE_ICM20649, MODULE_NAME, bus, device, spi_mode, bus_frequency),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
 	_drdy_gpio(drdy_gpio),
-	_px4_accel(get_device_id(), ORB_PRIO_HIGH, rotation),
+	_px4_accel(get_device_id(), rotation),
-	_px4_gyro(get_device_id(), ORB_PRIO_HIGH, rotation)
+	_px4_gyro(get_device_id(), rotation)
 {
 	if (drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");

src/drivers/imu/invensense/icm20689/ICM20689.cpp

@@ -45,8 +45,8 @@ ICM20689::ICM20689(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Ro
 	SPI(DRV_IMU_DEVTYPE_ICM20689, MODULE_NAME, bus, device, spi_mode, bus_frequency),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
 	_drdy_gpio(drdy_gpio),
-	_px4_accel(get_device_id(), ORB_PRIO_HIGH, rotation),
+	_px4_accel(get_device_id(), rotation),
-	_px4_gyro(get_device_id(), ORB_PRIO_HIGH, rotation)
+	_px4_gyro(get_device_id(), rotation)
 {
 	if (drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");

src/drivers/imu/invensense/icm20948/ICM20948.cpp

@@ -47,8 +47,8 @@ ICM20948::ICM20948(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Ro
 	SPI(DRV_IMU_DEVTYPE_ICM20948, MODULE_NAME, bus, device, spi_mode, bus_frequency),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
 	_drdy_gpio(drdy_gpio),
-	_px4_accel(get_device_id(), ORB_PRIO_DEFAULT, rotation),
+	_px4_accel(get_device_id(), rotation),
-	_px4_gyro(get_device_id(), ORB_PRIO_DEFAULT, rotation)
+	_px4_gyro(get_device_id(), rotation)
 {
 	if (drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");

src/drivers/imu/invensense/icm20948/ICM20948_AK09916.cpp

@@ -48,7 +48,7 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
 ICM20948_AK09916::ICM20948_AK09916(ICM20948 &icm20948, enum Rotation rotation) :
 	ScheduledWorkItem("icm20948_ak09916", px4::device_bus_to_wq(icm20948.get_device_id())),
 	_icm20948(icm20948),
-	_px4_mag(icm20948.get_device_id(), ORB_PRIO_DEFAULT, rotation)
+	_px4_mag(icm20948.get_device_id(), rotation)
 {
 	_px4_mag.set_device_type(DRV_MAG_DEVTYPE_AK09916);
 	_px4_mag.set_external(icm20948.external());

src/drivers/imu/invensense/icm40609d/ICM40609D.cpp

@@ -45,8 +45,8 @@ ICM40609D::ICM40609D(I2CSPIBusOption bus_option, int bus, uint32_t device, enum
 	SPI(DRV_IMU_DEVTYPE_ICM40609D, MODULE_NAME, bus, device, spi_mode, bus_frequency),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
 	_drdy_gpio(drdy_gpio),
-	_px4_accel(get_device_id(), ORB_PRIO_HIGH, rotation),
+	_px4_accel(get_device_id(), rotation),
-	_px4_gyro(get_device_id(), ORB_PRIO_HIGH, rotation)
+	_px4_gyro(get_device_id(), rotation)
 {
 	if (drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");

src/drivers/imu/invensense/icm42688p/ICM42688P.cpp

@@ -45,8 +45,8 @@ ICM42688P::ICM42688P(I2CSPIBusOption bus_option, int bus, uint32_t device, enum
 	SPI(DRV_IMU_DEVTYPE_ICM42688P, MODULE_NAME, bus, device, spi_mode, bus_frequency),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
 	_drdy_gpio(drdy_gpio),
-	_px4_accel(get_device_id(), ORB_PRIO_HIGH, rotation),
+	_px4_accel(get_device_id(), rotation),
-	_px4_gyro(get_device_id(), ORB_PRIO_HIGH, rotation)
+	_px4_gyro(get_device_id(), rotation)
 {
 	if (drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");

src/drivers/imu/invensense/mpu6000/MPU6000.cpp

@@ -45,8 +45,8 @@ MPU6000::MPU6000(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rota
 	SPI(DRV_IMU_DEVTYPE_MPU6000, MODULE_NAME, bus, device, spi_mode, bus_frequency),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
 	_drdy_gpio(drdy_gpio),
-	_px4_accel(get_device_id(), ORB_PRIO_HIGH, rotation),
+	_px4_accel(get_device_id(), rotation),
-	_px4_gyro(get_device_id(), ORB_PRIO_HIGH, rotation)
+	_px4_gyro(get_device_id(), rotation)
 {
 	if (drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");

src/drivers/imu/invensense/mpu6500/MPU6500.cpp

@@ -45,8 +45,8 @@ MPU6500::MPU6500(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rota
 	SPI(DRV_IMU_DEVTYPE_MPU6500, MODULE_NAME, bus, device, spi_mode, bus_frequency),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
 	_drdy_gpio(drdy_gpio),
-	_px4_accel(get_device_id(), ORB_PRIO_HIGH, rotation),
+	_px4_accel(get_device_id(), rotation),
-	_px4_gyro(get_device_id(), ORB_PRIO_HIGH, rotation)
+	_px4_gyro(get_device_id(), rotation)
 {
 	if (drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");

src/drivers/imu/invensense/mpu9250/MPU9250.cpp

@@ -47,8 +47,8 @@ MPU9250::MPU9250(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rota
 	SPI(DRV_IMU_DEVTYPE_MPU9250, MODULE_NAME, bus, device, spi_mode, bus_frequency),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
 	_drdy_gpio(drdy_gpio),
-	_px4_accel(get_device_id(), ORB_PRIO_HIGH, rotation),
+	_px4_accel(get_device_id(), rotation),
-	_px4_gyro(get_device_id(), ORB_PRIO_HIGH, rotation)
+	_px4_gyro(get_device_id(), rotation)
 {
 	if (drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");

src/drivers/imu/invensense/mpu9250/MPU9250_AK8963.cpp

@@ -48,7 +48,7 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
 MPU9250_AK8963::MPU9250_AK8963(MPU9250 &mpu9250, enum Rotation rotation) :
 	ScheduledWorkItem("mpu9250_ak8963", px4::device_bus_to_wq(mpu9250.get_device_id())),
 	_mpu9250(mpu9250),
-	_px4_mag(mpu9250.get_device_id(), ORB_PRIO_DEFAULT, rotation)
+	_px4_mag(mpu9250.get_device_id(), rotation)
 {
 	_px4_mag.set_device_type(DRV_MAG_DEVTYPE_AK8963);
 	_px4_mag.set_external(mpu9250.external());

src/drivers/imu/l3gd20/L3GD20.cpp

@@ -39,7 +39,7 @@ L3GD20::L3GD20(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotati
 	       spi_mode_e spi_mode) :
 	SPI(DRV_GYR_DEVTYPE_L3GD20, MODULE_NAME, bus, device, spi_mode, bus_frequency),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_px4_gyro(get_device_id(), ORB_PRIO_DEFAULT, rotation),
+	_px4_gyro(get_device_id(), rotation),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
 	_errors(perf_alloc(PC_COUNT, MODULE_NAME": err")),
 	_bad_registers(perf_alloc(PC_COUNT, MODULE_NAME": bad_reg")),

src/drivers/imu/lsm303d/LSM303D.cpp

@@ -57,8 +57,8 @@ LSM303D::LSM303D(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rota
 		 spi_mode_e spi_mode) :
 	SPI(DRV_IMU_DEVTYPE_LSM303D, MODULE_NAME, bus, device, spi_mode, bus_frequency),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_px4_accel(get_device_id(), ORB_PRIO_DEFAULT, rotation),
+	_px4_accel(get_device_id(), rotation),
-	_px4_mag(get_device_id(), ORB_PRIO_LOW, rotation),
+	_px4_mag(get_device_id(), rotation),
 	_accel_sample_perf(perf_alloc(PC_ELAPSED, "lsm303d: acc_read")),
 	_mag_sample_perf(perf_alloc(PC_ELAPSED, "lsm303d: mag_read")),
 	_bad_registers(perf_alloc(PC_COUNT, "lsm303d: bad_reg")),

src/drivers/imu/mpu6000/MPU6000.cpp

@@ -44,8 +44,8 @@ MPU6000::MPU6000(device::Device *interface, enum Rotation rotation, int device_t
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus, 0, device_type),
 	_interface(interface),
 	_device_type(device_type),
-	_px4_accel(_interface->get_device_id(), (_interface->external() ? ORB_PRIO_MAX : ORB_PRIO_HIGH), rotation),
+	_px4_accel(_interface->get_device_id(), rotation),
-	_px4_gyro(_interface->get_device_id(), (_interface->external() ? ORB_PRIO_MAX : ORB_PRIO_HIGH), rotation),
+	_px4_gyro(_interface->get_device_id(), rotation),
 	_sample_perf(perf_alloc(PC_ELAPSED, "mpu6k_read")),
 	_bad_transfers(perf_alloc(PC_COUNT, "mpu6k_bad_trans")),
 	_bad_registers(perf_alloc(PC_COUNT, "mpu6k_bad_reg")),

src/drivers/imu/mpu9250/MPU9250_mag.cpp

@@ -53,8 +53,7 @@
 // Otherwise, it will passthrough the parent MPU9250
 MPU9250_mag::MPU9250_mag(MPU9250 *parent, device::Device *interface, enum Rotation rotation) :
 	_interface(interface),
-	_px4_mag(parent->_interface->get_device_id(), (parent->_interface->external() ? ORB_PRIO_MAX : ORB_PRIO_HIGH),
+	_px4_mag(parent->_interface->get_device_id(), rotation),
-		 rotation),
 	_parent(parent),
 	_mag_overruns(perf_alloc(PC_COUNT, MODULE_NAME": mag overruns")),
 	_mag_overflows(perf_alloc(PC_COUNT, MODULE_NAME": mag overflows")),

src/drivers/imu/mpu9250/mpu9250.cpp

@@ -74,8 +74,8 @@ MPU9250::MPU9250(device::Device *interface, device::Device *mag_interface, enum
 		 I2CSPIBusOption bus_option, int bus) :
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus),
 	_interface(interface),
-	_px4_accel(_interface->get_device_id(), (_interface->external() ? ORB_PRIO_MAX : ORB_PRIO_HIGH), rotation),
+	_px4_accel(_interface->get_device_id(), rotation),
-	_px4_gyro(_interface->get_device_id(), (_interface->external() ? ORB_PRIO_MAX : ORB_PRIO_HIGH), rotation),
+	_px4_gyro(_interface->get_device_id(), rotation),
 	_mag(this, mag_interface, rotation),
 	_dlpf_freq(MPU9250_DEFAULT_ONCHIP_FILTER_FREQ),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),

src/drivers/imu/st/ism330dlc/ISM330DLC.cpp

@@ -44,8 +44,8 @@ ISM330DLC::ISM330DLC(I2CSPIBusOption bus_option, int bus, uint32_t device, enum
 	SPI(DRV_IMU_DEVTYPE_ST_ISM330DLC, MODULE_NAME, bus, device, spi_mode, bus_frequency),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
 	_drdy_gpio(drdy_gpio),
-	_px4_accel(get_device_id(), ORB_PRIO_DEFAULT, rotation),
+	_px4_accel(get_device_id(), rotation),
-	_px4_gyro(get_device_id(), ORB_PRIO_DEFAULT, rotation)
+	_px4_gyro(get_device_id(), rotation)
 {
 }
 

src/drivers/imu/st/lsm9ds1/LSM9DS1.cpp

@@ -42,8 +42,8 @@ LSM9DS1::LSM9DS1(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rota
 		 spi_mode_e spi_mode) :
 	SPI(DRV_IMU_DEVTYPE_ST_LSM9DS1_AG, MODULE_NAME, bus, device, spi_mode, bus_frequency),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_px4_accel(get_device_id(), ORB_PRIO_DEFAULT, rotation),
+	_px4_accel(get_device_id(), rotation),
-	_px4_gyro(get_device_id(), ORB_PRIO_DEFAULT, rotation)
+	_px4_gyro(get_device_id(), rotation)
 {
 }
 

src/drivers/magnetometer/akm/ak09916/AK09916.cpp

@@ -43,7 +43,7 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
 AK09916::AK09916(I2CSPIBusOption bus_option, int bus, int bus_frequency, enum Rotation rotation) :
 	I2C(DRV_MAG_DEVTYPE_AK09916, MODULE_NAME, bus, I2C_ADDRESS_DEFAULT, bus_frequency),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_px4_mag(get_device_id(), external() ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT, rotation)
+	_px4_mag(get_device_id(), rotation)
 {
 	_px4_mag.set_external(external());
 }

src/drivers/magnetometer/akm/ak8963/AK8963.cpp

@@ -43,7 +43,7 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
 AK8963::AK8963(I2CSPIBusOption bus_option, int bus, int bus_frequency, enum Rotation rotation) :
 	I2C(DRV_MAG_DEVTYPE_AK8963, MODULE_NAME, bus, I2C_ADDRESS_DEFAULT, bus_frequency),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_px4_mag(get_device_id(), external() ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT, rotation)
+	_px4_mag(get_device_id(), rotation)
 {
 	_px4_mag.set_external(external());
 }

src/drivers/magnetometer/bmm150/bmm150.cpp

@@ -43,7 +43,7 @@
 BMM150::BMM150(I2CSPIBusOption bus_option, const int bus, int bus_frequency, enum Rotation rotation) :
 	I2C(DRV_MAG_DEVTYPE_BMM150, MODULE_NAME, bus, BMM150_SLAVE_ADDRESS, bus_frequency),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_px4_mag(get_device_id(), external() ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT, rotation),
+	_px4_mag(get_device_id(), rotation),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
 	_bad_transfers(perf_alloc(PC_COUNT, MODULE_NAME": bad transfers")),
 	_good_transfers(perf_alloc(PC_COUNT, MODULE_NAME": good transfers")),

src/drivers/magnetometer/bmm150/bmm150.hpp

@@ -39,7 +39,6 @@
 #include <systemlib/conversions.h>
 #include <drivers/drv_hrt.h>
 #include <drivers/device/i2c.h>
-#include <drivers/drv_mag.h>
 #include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
 
 #define BMM150_SLAVE_ADDRESS                 0x10

src/drivers/magnetometer/hmc5883/HMC5883.cpp

@@ -35,7 +35,7 @@
 
 HMC5883::HMC5883(device::Device *interface, enum Rotation rotation, I2CSPIBusOption bus_option, int bus) :
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus),
-	_px4_mag(interface->get_device_id(), interface->external() ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT, rotation),
+	_px4_mag(interface->get_device_id(), rotation),
 	_interface(interface),
 	_range_ga(1.9f),
 	_collect_phase(false),

src/drivers/magnetometer/isentek/ist8308/IST8308.cpp

@@ -43,7 +43,7 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
 IST8308::IST8308(I2CSPIBusOption bus_option, int bus, enum Rotation rotation, int bus_frequency) :
 	I2C(DRV_MAG_DEVTYPE_IST8308, MODULE_NAME, bus, I2C_ADDRESS_DEFAULT, bus_frequency),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_px4_mag(get_device_id(), external() ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT, rotation)
+	_px4_mag(get_device_id(), rotation)
 {
 	_px4_mag.set_external(external());
 }

src/drivers/magnetometer/ist8310/ist8310.cpp

@@ -270,7 +270,7 @@ private:
 IST8310::IST8310(I2CSPIBusOption bus_option, int bus_number, int address, enum Rotation rotation, int bus_frequency) :
 	I2C(DRV_MAG_DEVTYPE_IST8310, MODULE_NAME, bus_number, address, bus_frequency),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus_number, address),
-	_px4_mag(get_device_id(), external() ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT, rotation),
+	_px4_mag(get_device_id(), rotation),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
 	_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": com_err")),
 	_range_errors(perf_alloc(PC_COUNT, MODULE_NAME": rng_err")),

src/drivers/magnetometer/lis2mdl/lis2mdl.cpp

@@ -44,7 +44,7 @@
 
 LIS2MDL::LIS2MDL(device::Device *interface, enum Rotation rotation, I2CSPIBusOption bus_option, int bus) :
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus),
-	_px4_mag(interface->get_device_id(), interface->external() ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT, rotation),
+	_px4_mag(interface->get_device_id(), rotation),
 	_interface(interface),
 	_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms_errors")),
 	_conf_errors(perf_alloc(PC_COUNT, MODULE_NAME": conf_errors")),

src/drivers/magnetometer/lis3mdl/lis3mdl.cpp

@@ -44,7 +44,7 @@
 
 LIS3MDL::LIS3MDL(device::Device *interface, enum Rotation rotation, I2CSPIBusOption bus_option, int bus) :
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus),
-	_px4_mag(interface->get_device_id(), interface->external() ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT, rotation),
+	_px4_mag(interface->get_device_id(), rotation),
 	_interface(interface),
 	_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms_errors")),
 	_conf_errors(perf_alloc(PC_COUNT, MODULE_NAME": conf_errors")),

src/drivers/magnetometer/lsm303agr/LSM303AGR.cpp

@@ -65,7 +65,7 @@ LSM303AGR::LSM303AGR(I2CSPIBusOption bus_option, int bus, int device, enum Rotat
 		     spi_mode_e spi_mode) :
 	SPI(DRV_MAG_DEVTYPE_LSM303AGR, MODULE_NAME, bus, device, spi_mode, bus_frequency),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_px4_mag(get_device_id(), external() ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT, rotation),
+	_px4_mag(get_device_id(), rotation),
 	_mag_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": mag_read")),
 	_bad_registers(perf_alloc(PC_COUNT, MODULE_NAME": bad_reg")),
 	_bad_values(perf_alloc(PC_COUNT, MODULE_NAME": bad_val"))

src/drivers/magnetometer/lsm9ds1_mag/LSM9DS1_MAG.cpp

@@ -44,7 +44,7 @@ LSM9DS1_MAG::LSM9DS1_MAG(I2CSPIBusOption bus_option, int bus, uint32_t device, e
 			 int bus_frequency, spi_mode_e spi_mode) :
 	SPI(DRV_MAG_DEVTYPE_ST_LSM9DS1_M, MODULE_NAME, bus, device, spi_mode, bus_frequency),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_px4_mag(get_device_id(), external() ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT, rotation)
+	_px4_mag(get_device_id(), rotation)
 {
 	_px4_mag.set_external(external());
 }

src/drivers/magnetometer/qmc5883/QMC5883.cpp

@@ -36,7 +36,7 @@
 QMC5883::QMC5883(device::Device *interface, enum Rotation rotation, I2CSPIBusOption bus_option, int bus,
 		 int i2c_address) :
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus, i2c_address),
-	_px4_mag(interface->get_device_id(), interface->external() ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT, rotation),
+	_px4_mag(interface->get_device_id(), rotation),
 	_interface(interface),
 	_collect_phase(false),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),

src/drivers/magnetometer/rm3100/rm3100.cpp

@@ -43,7 +43,7 @@
 
 RM3100::RM3100(device::Device *interface, enum Rotation rotation, I2CSPIBusOption bus_option, int bus) :
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus),
-	_px4_mag(interface->get_device_id(), interface->external() ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT, rotation),
+	_px4_mag(interface->get_device_id(), rotation),
 	_interface(interface),
 	_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms_errors")),
 	_conf_errors(perf_alloc(PC_COUNT, MODULE_NAME": conf_errors")),

src/drivers/mkblctrl/mkblctrl.cpp

@@ -481,8 +481,7 @@ MK::task_main()
 	actuator_outputs_s outputs;
 	memset(&outputs, 0, sizeof(outputs));
 	int dummy;
-	_t_outputs = orb_advertise_multi(ORB_ID(actuator_outputs),
+	_t_outputs = orb_advertise_multi(ORB_ID(actuator_outputs), &outputs, &dummy);
-					 &outputs, &dummy, ORB_PRIO_HIGH);
 
 	/*
 	 * advertise the blctrl status.

src/drivers/px4io/px4io.cpp

@@ -2058,7 +2058,7 @@ PX4IO::io_reg_modify(uint8_t page, uint8_t offset, uint16_t clearbits, uint16_t
 int
 PX4IO::print_debug()
 {
-#if defined(CONFIG_ARCH_BOARD_PX4_FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4_FMU_V3) ||  defined(CONFIG_ARCH_BOARD_HEX_CUBE_ORANGE)
+#if defined(CONFIG_ARCH_BOARD_PX4_FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4_FMU_V3)
 	int io_fd = -1;
 
 	if (io_fd <= 0) {

src/drivers/uavcan/sensors/baro.cpp

@@ -117,7 +117,7 @@ int UavcanBarometerBridge::init_driver(uavcan_bridge::Channel *channel)
 	device_id.devid_s.devtype = DRV_BARO_DEVTYPE_UAVCAN;
 	device_id.devid_s.address = static_cast<uint8_t>(channel->node_id);
 
-	channel->h_driver = new PX4Barometer(device_id.devid, ORB_PRIO_HIGH);
+	channel->h_driver = new PX4Barometer(device_id.devid);
 
 	if (channel->h_driver == nullptr) {
 		return PX4_ERROR;

src/drivers/uavcan/sensors/gnss.hpp

@@ -114,7 +114,7 @@ private:
 	float		_last_gnss_auxiliary_hdop{0.0f};
 	float		_last_gnss_auxiliary_vdop{0.0f};
 
-	uORB::PublicationMulti<vehicle_gps_position_s>	_gps_pub{ORB_ID(vehicle_gps_position), ORB_PRIO_DEFAULT};
+	uORB::PublicationMulti<vehicle_gps_position_s>	_gps_pub{ORB_ID(vehicle_gps_position)};
 	uORB::Subscription				_orb_sub_gnss{ORB_ID(vehicle_gps_position)};
 
 	int	_receiver_node_id{-1};

src/drivers/uavcan/sensors/mag.cpp

@@ -148,7 +148,7 @@ int UavcanMagnetometerBridge::init_driver(uavcan_bridge::Channel *channel)
 	device_id.devid_s.devtype = DRV_MAG_DEVTYPE_UAVCAN;
 	device_id.devid_s.address = static_cast<uint8_t>(channel->node_id);
 
-	channel->h_driver = new PX4Magnetometer(device_id.devid, ORB_PRIO_HIGH, ROTATION_NONE);
+	channel->h_driver = new PX4Magnetometer(device_id.devid, ROTATION_NONE);
 
 	if (channel->h_driver == nullptr) {
 		return PX4_ERROR;

src/drivers/uavcan/sensors/sensor_bridge.cpp

@@ -130,7 +130,7 @@ UavcanCDevSensorBridgeBase::publish(const int node_id, const void *report)
 		channel->class_instance = class_instance;
 		DEVICE_LOG("channel %d class instance %d ok", channel->node_id, channel->class_instance);
 
-		channel->orb_advert = orb_advertise_multi(_orb_topic, report, &channel->orb_instance, ORB_PRIO_VERY_HIGH);
+		channel->orb_advert = orb_advertise_multi(_orb_topic, report, &channel->orb_instance);
 
 		if (channel->orb_advert == nullptr) {
 			DEVICE_LOG("uORB advertise failed. Out of instances?");

src/examples/fake_magnetometer/FakeMagnetometer.cpp

@@ -41,7 +41,7 @@ using namespace time_literals;
 FakeMagnetometer::FakeMagnetometer() :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default),
-	_px4_mag(0, ORB_PRIO_MIN, ROTATION_NONE)
+	_px4_mag(0, ROTATION_NONE)
 {
 	_px4_mag.set_device_type(DRV_MAG_DEVTYPE_MAGSIM);
 	_px4_mag.set_external(false);

src/examples/fake_magnetometer/FakeMagnetometer.hpp

@@ -46,6 +46,7 @@
 #include <px4_platform_common/module_params.h>
 #include <px4_platform_common/posix.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <drivers/drv_sensor.h>
 #include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/vehicle_attitude.h>

src/lib/battery/battery.cpp

@@ -186,7 +186,7 @@ Battery::updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float curre
 void
 Battery::publish()
 {
-	orb_publish_auto(ORB_ID(battery_status), &_orb_advert, &_battery_status, &_orb_instance, ORB_PRIO_DEFAULT);
+	orb_publish_auto(ORB_ID(battery_status), &_orb_advert, &_battery_status, &_orb_instance);
 }
 
 void

src/lib/drivers/accelerometer/PX4Accelerometer.cpp

@@ -63,10 +63,10 @@ static constexpr uint8_t clipping(const int16_t samples[16], int16_t clip_limit,
 	return clip_count;
 }
 
-PX4Accelerometer::PX4Accelerometer(uint32_t device_id, ORB_PRIO priority, enum Rotation rotation) :
+PX4Accelerometer::PX4Accelerometer(uint32_t device_id, enum Rotation rotation) :
 	ModuleParams(nullptr),
-	_sensor_pub{ORB_ID(sensor_accel), priority},
+	_sensor_pub{ORB_ID(sensor_accel)},
-	_sensor_fifo_pub{ORB_ID(sensor_accel_fifo), priority},
+	_sensor_fifo_pub{ORB_ID(sensor_accel_fifo)},
 	_device_id{device_id},
 	_rotation{rotation}
 {

src/lib/drivers/accelerometer/PX4Accelerometer.hpp

@@ -44,7 +44,7 @@
 class PX4Accelerometer : public ModuleParams
 {
 public:
-	PX4Accelerometer(uint32_t device_id, ORB_PRIO priority = ORB_PRIO_DEFAULT, enum Rotation rotation = ROTATION_NONE);
+	PX4Accelerometer(uint32_t device_id, enum Rotation rotation = ROTATION_NONE);
 	~PX4Accelerometer() override;
 
 	uint32_t get_device_id() const { return _device_id; }

src/lib/drivers/barometer/PX4Barometer.cpp

@@ -36,9 +36,9 @@
 
 #include <lib/drivers/device/Device.hpp>
 
-PX4Barometer::PX4Barometer(uint32_t device_id, ORB_PRIO priority) :
+PX4Barometer::PX4Barometer(uint32_t device_id) :
 	CDev(nullptr),
-	_sensor_baro_pub{ORB_ID(sensor_baro), priority}
+	_sensor_baro_pub{ORB_ID(sensor_baro)}
 {
 	_class_device_instance = register_class_devname(BARO_BASE_DEVICE_PATH);
 	_sensor_baro_pub.advertise();

src/lib/drivers/barometer/PX4Barometer.hpp

@@ -45,7 +45,7 @@ class PX4Barometer : public cdev::CDev
 {
 
 public:
-	PX4Barometer(uint32_t device_id, ORB_PRIO priority = ORB_PRIO_DEFAULT);
+	PX4Barometer(uint32_t device_id);
 	~PX4Barometer() override;
 
 	const sensor_baro_s &get() { return _sensor_baro_pub.get(); }

src/lib/drivers/gyroscope/PX4Gyroscope.cpp

@@ -50,10 +50,10 @@ static constexpr int32_t sum(const int16_t samples[16], uint8_t len)
 	return sum;
 }
 
-PX4Gyroscope::PX4Gyroscope(uint32_t device_id, ORB_PRIO priority, enum Rotation rotation) :
+PX4Gyroscope::PX4Gyroscope(uint32_t device_id, enum Rotation rotation) :
 	ModuleParams(nullptr),
-	_sensor_pub{ORB_ID(sensor_gyro), priority},
+	_sensor_pub{ORB_ID(sensor_gyro)},
-	_sensor_fifo_pub{ORB_ID(sensor_gyro_fifo), priority},
+	_sensor_fifo_pub{ORB_ID(sensor_gyro_fifo)},
 	_device_id{device_id},
 	_rotation{rotation}
 {

src/lib/drivers/gyroscope/PX4Gyroscope.hpp

@@ -43,7 +43,7 @@
 class PX4Gyroscope : public ModuleParams
 {
 public:
-	PX4Gyroscope(uint32_t device_id, ORB_PRIO priority = ORB_PRIO_DEFAULT, enum Rotation rotation = ROTATION_NONE);
+	PX4Gyroscope(uint32_t device_id, enum Rotation rotation = ROTATION_NONE);
 	~PX4Gyroscope() override;
 
 	uint32_t get_device_id() const { return _device_id; }

src/lib/drivers/magnetometer/PX4Magnetometer.cpp

@@ -36,9 +36,9 @@
 
 #include <lib/drivers/device/Device.hpp>
 
-PX4Magnetometer::PX4Magnetometer(uint32_t device_id, ORB_PRIO priority, enum Rotation rotation) :
+PX4Magnetometer::PX4Magnetometer(uint32_t device_id, enum Rotation rotation) :
 	CDev(nullptr),
-	_sensor_pub{ORB_ID(sensor_mag), priority},
+	_sensor_pub{ORB_ID(sensor_mag)},
 	_device_id{device_id},
 	_rotation{rotation}
 {

src/lib/drivers/magnetometer/PX4Magnetometer.hpp

@@ -43,7 +43,7 @@
 class PX4Magnetometer : public cdev::CDev
 {
 public:
-	PX4Magnetometer(uint32_t device_id, ORB_PRIO priority = ORB_PRIO_DEFAULT, enum Rotation rotation = ROTATION_NONE);
+	PX4Magnetometer(uint32_t device_id, enum Rotation rotation = ROTATION_NONE);
 	~PX4Magnetometer() override;
 
 	bool external() { return _external; }

src/lib/drivers/rangefinder/PX4Rangefinder.cpp

@@ -35,8 +35,8 @@
 
 #include <lib/drivers/device/Device.hpp>
 
-PX4Rangefinder::PX4Rangefinder(const uint32_t device_id, const ORB_PRIO priority, const uint8_t device_orientation) :
+PX4Rangefinder::PX4Rangefinder(const uint32_t device_id, const uint8_t device_orientation) :
-	_distance_sensor_pub{ORB_ID(distance_sensor), priority}
+	_distance_sensor_pub{ORB_ID(distance_sensor)}
 {
 	_distance_sensor_pub.advertise();
 

src/lib/drivers/rangefinder/PX4Rangefinder.hpp

@@ -44,7 +44,6 @@ class PX4Rangefinder
 
 public:
 	PX4Rangefinder(const uint32_t device_id,
-		       const ORB_PRIO priority = ORB_PRIO_DEFAULT,
 		       const uint8_t device_orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
 	~PX4Rangefinder();
 

src/lib/mixer_module/mixer_module.hpp

@@ -238,8 +238,8 @@ private:
 	uORB::Subscription _armed_sub{ORB_ID(actuator_armed)};
 	uORB::SubscriptionCallbackWorkItem _control_subs[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
 
-	uORB::PublicationMulti<actuator_outputs_s> _outputs_pub{ORB_ID(actuator_outputs), ORB_PRIO_DEFAULT};
+	uORB::PublicationMulti<actuator_outputs_s> _outputs_pub{ORB_ID(actuator_outputs)};
-	uORB::PublicationMulti<multirotor_motor_limits_s> _to_mixer_status{ORB_ID(multirotor_motor_limits), ORB_PRIO_DEFAULT}; 	///< mixer status flags
+	uORB::PublicationMulti<multirotor_motor_limits_s> _to_mixer_status{ORB_ID(multirotor_motor_limits)}; 	///< mixer status flags
 
 	actuator_controls_s _controls[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS] {};
 	actuator_armed_s _armed{};

src/lib/parameters/param_translation.cpp

@@ -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",
+		"TC_G2_ID"
-		"CAL_ACC_PRIME",
-		"CAL_GYRO_PRIME",
-		"CAL_MAG_PRIME",
 	};
 	bool found = false;
 

src/lib/sensor_calibration/Accelerometer.cpp

@@ -118,9 +118,15 @@ void Accelerometer::ParametersUpdate()
 			_rotation.setIdentity();
 		}
 
-		// CAL_ACCx_EN
+		// CAL_ACCx_PRIO
-		int32_t enabled = GetCalibrationParam(SensorString(), "EN", _calibration_index);
+		_priority = GetCalibrationParam(SensorString(), "PRIO", _calibration_index);
-		_enabled = (enabled == 1);
+
+		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_ACCx_OFF{X,Y,Z}
 		_offset = GetCalibrationParamsVector3f(SensorString(), "OFF", _calibration_index);
@@ -140,7 +146,7 @@ void Accelerometer::Reset()
 	_scale = Vector3f{1.f, 1.f, 1.f};
 	_thermal_offset.zero();
 
-	_enabled = true;
+	_priority = _external ? DEFAULT_EXTERNAL_PRIORITY : DEFAULT_PRIORITY;
 
 	_calibration_index = -1;
 }
@@ -150,10 +156,17 @@ bool Accelerometer::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);
 		SetCalibrationParamsVector3f(SensorString(), "SCALE", _calibration_index, _scale);
 
+		// if (_external) {
+		// 	SetCalibrationParam(SensorString(), "ROT", _calibration_index, (int32_t)_rotation_enum);
+
+		// } else {
+		// 	SetCalibrationParam(SensorString(), "ROT", _calibration_index, -1);
+		// }
+
 		return true;
 	}
 

src/lib/sensor_calibration/Accelerometer.hpp

@@ -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

src/lib/sensor_calibration/Gyroscope.cpp

@@ -118,9 +118,15 @@ void Gyroscope::ParametersUpdate()
 			_rotation.setIdentity();
 		}
 
-		// CAL_GYROx_EN
+		// CAL_GYROx_PRIO
-		int32_t enabled = GetCalibrationParam(SensorString(), "EN", _calibration_index);
+		_priority = GetCalibrationParam(SensorString(), "PRIO", _calibration_index);
-		_enabled = (enabled == 1);
+
+		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;
 	}
 

src/lib/sensor_calibration/Gyroscope.hpp

@@ -47,6 +47,9 @@ class Gyroscope
 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 "GYRO"; }
 
 	Gyroscope();
@@ -62,8 +65,9 @@ public:
 	void set_offset(const matrix::Vector3f &offset) { _offset = offset; }
 
 	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
@@ -89,8 +93,8 @@ private:
 
 	int8_t _calibration_index{-1};
 	uint32_t _device_id{0};
+	int32_t _priority{DEFAULT_PRIORITY};
 
-	bool _enabled{true};
 	bool _external{false};
 };
 } // namespace calibration

src/lib/sensor_calibration/Magnetometer.cpp

@@ -64,6 +64,21 @@ void Magnetometer::set_device_id(uint32_t device_id)
 
 void Magnetometer::set_external(bool external)
 {
+	// update priority default appropriately if not set
+	if (_calibration_index < 0) {
+		if ((_priority < 0) || (_priority > 100)) {
+			_priority = external ? DEFAULT_EXTERNAL_PRIORITY : DEFAULT_PRIORITY;
+
+		} else if (!_external && external && (_priority == DEFAULT_PRIORITY)) {
+			// internal -> external
+			_priority = DEFAULT_EXTERNAL_PRIORITY;
+
+		} else if (_external && !external && (_priority == DEFAULT_EXTERNAL_PRIORITY)) {
+			// external -> internal
+			_priority = DEFAULT_PRIORITY;
+		}
+	}
+
 	_external = external;
 }
 
@@ -113,9 +128,16 @@ void Magnetometer::ParametersUpdate()
 			_rotation = get_rot_matrix((enum Rotation)rotation);
 		}
 
-		// CAL_MAGx_EN
+		// CAL_MAGx_PRIO
-		int32_t enabled = GetCalibrationParam(SensorString(), "EN", _calibration_index);
+		_priority = GetCalibrationParam(SensorString(), "PRIO", _calibration_index);
-		_enabled = (enabled == 1);
+
+		if ((_priority < 0) || (_priority > 100)) {
+			// reset to default
+			int32_t new_priority = _external ? DEFAULT_EXTERNAL_PRIORITY : DEFAULT_PRIORITY;
+			PX4_ERR("%s %d invalid priority %d, resetting to %d", SensorString(), _calibration_index, _priority, new_priority);
+			SetCalibrationParam(SensorString(), "PRIO", _calibration_index, new_priority);
+			_priority = new_priority;
+		}
 
 		// CAL_MAGx_OFF{X,Y,Z}
 		_offset = GetCalibrationParamsVector3f(SensorString(), "OFF", _calibration_index);
@@ -151,7 +173,7 @@ void Magnetometer::Reset()
 	_power_compensation.zero();
 	_power = 0.f;
 
-	_enabled = true;
+	_priority = _external ? DEFAULT_EXTERNAL_PRIORITY : DEFAULT_PRIORITY;
 
 	_calibration_index = -1;
 }
@@ -161,7 +183,7 @@ bool Magnetometer::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);
 
 		Vector3f scale{_scale.diag()};

src/lib/sensor_calibration/Magnetometer.hpp

@@ -48,6 +48,9 @@ class Magnetometer
 public:
 	static constexpr int MAX_SENSOR_COUNT = 4;
 
+	static constexpr uint8_t DEFAULT_PRIORITY = 50;
+	static constexpr uint8_t DEFAULT_EXTERNAL_PRIORITY = 75;
+
 	static constexpr const char *SensorString() { return "MAG"; }
 
 	Magnetometer();
@@ -66,9 +69,10 @@ public:
 	void set_rotation(Rotation rotation);
 
 	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 matrix::Vector3f &offset() const { return _offset; }
+	const int32_t &priority() const { return _priority; }
 	const matrix::Dcmf &rotation() const { return _rotation; }
 	const Rotation &rotation_enum() const { return _rotation_enum; }
 	const matrix::Matrix3f &scale() const { return _scale; }
@@ -98,8 +102,8 @@ private:
 
 	int8_t _calibration_index{-1};
 	uint32_t _device_id{0};
+	int32_t _priority{-1};
 
-	bool _enabled{true};
 	bool _external{false};
 };
 } // namespace calibration

src/modules/commander/accelerometer_calibration.cpp

@@ -263,8 +263,6 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
 	calibration_log_info(mavlink_log_pub, CAL_QGC_STARTED_MSG, sensor_name);
 
 	calibration::Accelerometer calibrations[MAX_ACCEL_SENS] {};
-	ORB_PRIO device_prio_max = ORB_PRIO_UNINITIALIZED;
-	int32_t device_id_primary = 0;
 	unsigned active_sensors = 0;
 
 	for (uint8_t cur_accel = 0; cur_accel < MAX_ACCEL_SENS; cur_accel++) {
@@ -274,14 +272,6 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
 			calibrations[cur_accel].set_device_id(accel_sub.get().device_id);
 			active_sensors++;
 
-			// Get priority
-			const ORB_PRIO prio = accel_sub.get_priority();
-
-			if (prio > device_prio_max) {
-				device_prio_max = prio;
-				device_id_primary = accel_sub.get().device_id;
-			}
-
 		} else {
 			calibrations[cur_accel].Reset();
 		}
@@ -365,7 +355,6 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
 			calibrations[i].ParametersSave();
 		}
 
-		param_set_no_notification(param_find("CAL_ACC_PRIME"), &device_id_primary);
 		param_notify_changes();
 
 		/* if there is a any preflight-check system response, let the barrage of messages through */
@@ -384,7 +373,7 @@ int do_accel_calibration_quick(orb_advert_t *mavlink_log_pub)
 #if !defined(CONSTRAINED_FLASH)
 	PX4_INFO("Accelerometer quick calibration");
 
-	int32_t device_id_primary = 0;
+	bool success = false;
 
 	// sensor thermal corrections (optional)
 	uORB::Subscription sensor_correction_sub{ORB_ID(sensor_correction)};
@@ -492,20 +481,16 @@ int do_accel_calibration_quick(orb_advert_t *mavlink_log_pub)
 
 			} else {
 				calibration.set_offset(offset);
+
+				success = true;
 			}
 
 			calibration.ParametersSave();
-
-			if (device_id_primary == 0) {
-				device_id_primary = arp.device_id;
-			}
-
 			calibration.PrintStatus();
 		}
 	}
 
-	if (device_id_primary != 0) {
+	if (success) {
-		param_set_no_notification(param_find("CAL_ACC_PRIME"), &device_id_primary);
 		param_notify_changes();
 		return PX4_OK;
 	}

src/modules/commander/gyro_calibration.cpp

@@ -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;

src/modules/mavlink/mavlink_receiver.h

@@ -262,12 +262,12 @@ private:
 	uORB::Publication<vehicle_trajectory_waypoint_s>	_trajectory_waypoint_pub{ORB_ID(vehicle_trajectory_waypoint)};
 
 	// ORB publications (multi)
-	uORB::PublicationMulti<distance_sensor_s>		_distance_sensor_pub{ORB_ID(distance_sensor), ORB_PRIO_LOW};
+	uORB::PublicationMulti<distance_sensor_s>		_distance_sensor_pub{ORB_ID(distance_sensor)};
-	uORB::PublicationMulti<distance_sensor_s>		_flow_distance_sensor_pub{ORB_ID(distance_sensor), ORB_PRIO_LOW};
+	uORB::PublicationMulti<distance_sensor_s>		_flow_distance_sensor_pub{ORB_ID(distance_sensor)};
-	uORB::PublicationMulti<input_rc_s>			_rc_pub{ORB_ID(input_rc), ORB_PRIO_LOW};
+	uORB::PublicationMulti<input_rc_s>			_rc_pub{ORB_ID(input_rc)};
-	uORB::PublicationMulti<manual_control_setpoint_s>	_manual_control_setpoint_pub{ORB_ID(manual_control_setpoint), ORB_PRIO_LOW};
+	uORB::PublicationMulti<manual_control_setpoint_s>	_manual_control_setpoint_pub{ORB_ID(manual_control_setpoint)};
-	uORB::PublicationMulti<ping_s>				_ping_pub{ORB_ID(ping), ORB_PRIO_LOW};
+	uORB::PublicationMulti<ping_s>				_ping_pub{ORB_ID(ping)};
-	uORB::PublicationMulti<radio_status_s>			_radio_status_pub{ORB_ID(radio_status), ORB_PRIO_LOW};
+	uORB::PublicationMulti<radio_status_s>			_radio_status_pub{ORB_ID(radio_status)};
 
 	// ORB publications (queue length > 1)
 	uORB::PublicationQueued<gps_inject_data_s>	_gps_inject_data_pub{ORB_ID(gps_inject_data)};

src/modules/mc_rate_control/MulticopterRateControl.hpp

@@ -107,7 +107,7 @@ private:
 	uORB::SubscriptionCallbackWorkItem _vehicle_angular_velocity_sub{this, ORB_ID(vehicle_angular_velocity)};
 
 	uORB::Publication<actuator_controls_s>		_actuators_0_pub;
-	uORB::PublicationMulti<rate_ctrl_status_s>	_controller_status_pub{ORB_ID(rate_ctrl_status), ORB_PRIO_DEFAULT};	/**< controller status publication */
+	uORB::PublicationMulti<rate_ctrl_status_s>	_controller_status_pub{ORB_ID(rate_ctrl_status)};	/**< controller status publication */
 	uORB::Publication<landing_gear_s>		_landing_gear_pub{ORB_ID(landing_gear)};
 	uORB::Publication<vehicle_rates_setpoint_s>	_v_rates_sp_pub{ORB_ID(vehicle_rates_setpoint)};			/**< rate setpoint publication */
 

src/modules/rc_update/rc_update.h

@@ -157,7 +157,7 @@ private:
 	uORB::Publication<rc_channels_s>	_rc_pub{ORB_ID(rc_channels)};				/**< raw r/c control topic */
 	uORB::Publication<actuator_controls_s>	_actuator_group_3_pub{ORB_ID(actuator_controls_3)};	/**< manual control as actuator topic */
 
-	uORB::PublicationMulti<manual_control_setpoint_s>	_manual_control_setpoint_pub{ORB_ID(manual_control_setpoint), ORB_PRIO_HIGH};	/**< manual control signal topic */
+	uORB::PublicationMulti<manual_control_setpoint_s>	_manual_control_setpoint_pub{ORB_ID(manual_control_setpoint)};	/**< manual control signal topic */
 
 	rc_channels_s _rc {};			/**< r/c channel data */
 

src/modules/replay/Replay.cpp

@@ -955,7 +955,7 @@ Replay::publishTopic(Subscription &sub, void *data)
 
 			if (advertised) {
 				int instance;
-				sub.orb_advert = orb_advertise_multi(sub.orb_meta, data, &instance, ORB_PRIO_DEFAULT);
+				sub.orb_advert = orb_advertise_multi(sub.orb_meta, data, &instance);
 				published = true;
 			}
 		}

src/modules/sensors/sensor_params_acc0.c

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2018 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2020 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -40,13 +40,19 @@
 PARAM_DEFINE_INT32(CAL_ACC0_ID, 0);
 
 /**
- * Accelerometer 0 enabled
+ * Accelerometer 0 priority.
+ *
+ * @value 0   Disabled
+ * @value 1   Min
+ * @value 25  Low
+ * @value 50  Medium (Default)
+ * @value 75  High
+ * @value 100 Max
  *
- * @boolean
  * @category system
  * @group Sensor Calibration
  */
-PARAM_DEFINE_INT32(CAL_ACC0_EN, 1);
+PARAM_DEFINE_INT32(CAL_ACC0_PRIO, 50);
 
 /**
  * Accelerometer X-axis offset

src/modules/sensors/sensor_params_acc1.c

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2018 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2020 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -40,13 +40,19 @@
 PARAM_DEFINE_INT32(CAL_ACC1_ID, 0);
 
 /**
- * Accelerometer 1 enabled
+ * Accelerometer 1 priority.
+ *
+ * @value 0   Disabled
+ * @value 1   Min
+ * @value 25  Low
+ * @value 50  Medium (Default)
+ * @value 75  High
+ * @value 100 Max
  *
- * @boolean
  * @category system
  * @group Sensor Calibration
  */
-PARAM_DEFINE_INT32(CAL_ACC1_EN, 1);
+PARAM_DEFINE_INT32(CAL_ACC1_PRIO, 50);
 
 /**
  * Accelerometer X-axis offset

src/modules/sensors/sensor_params_acc2.c

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2018 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2020 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -40,13 +40,19 @@
 PARAM_DEFINE_INT32(CAL_ACC2_ID, 0);
 
 /**
- * Accelerometer 2 enabled
+ * Accelerometer 2 priority.
+ *
+ * @value 0   Disabled
+ * @value 1   Min
+ * @value 25  Low
+ * @value 50  Medium (Default)
+ * @value 75  High
+ * @value 100 Max
  *
- * @boolean
  * @category system
  * @group Sensor Calibration
  */
-PARAM_DEFINE_INT32(CAL_ACC2_EN, 1);
+PARAM_DEFINE_INT32(CAL_ACC2_PRIO, 50);
 
 /**
  * Accelerometer X-axis offset

src/modules/sensors/sensor_params_accel.c

@@ -1,40 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * Primary accel ID
- *
- * @category system
- * @group Sensor Calibration
- */
-PARAM_DEFINE_INT32(CAL_ACC_PRIME, 0);

src/modules/sensors/sensor_params_gyro.c

@@ -1,40 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * Primary gyro ID
- *
- * @category system
- * @group Sensor Calibration
- */
-PARAM_DEFINE_INT32(CAL_GYRO_PRIME, 0);

src/modules/sensors/sensor_params_gyro0.c

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2018 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2020 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -40,13 +40,19 @@
 PARAM_DEFINE_INT32(CAL_GYRO0_ID, 0);
 
 /**
- * Gyro 0 enabled
+ * Gyro 0 priority.
+ *
+ * @value 0   Disabled
+ * @value 1   Min
+ * @value 25  Low
+ * @value 50  Medium (Default)
+ * @value 75  High
+ * @value 100 Max
  *
- * @boolean
  * @category system
  * @group Sensor Calibration
  */
-PARAM_DEFINE_INT32(CAL_GYRO0_EN, 1);
+PARAM_DEFINE_INT32(CAL_GYRO0_PRIO, 50);
 
 /**
  * Gyro X-axis offset

src/modules/sensors/sensor_params_gyro1.c

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2018 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2020 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -40,13 +40,19 @@
 PARAM_DEFINE_INT32(CAL_GYRO1_ID, 0);
 
 /**
- * Gyro 1 enabled
+ * Gyro 1 priority.
+ *
+ * @value 0   Disabled
+ * @value 1   Min
+ * @value 25  Low
+ * @value 50  Medium (Default)
+ * @value 75  High
+ * @value 100 Max
  *
- * @boolean
  * @category system
  * @group Sensor Calibration
  */
-PARAM_DEFINE_INT32(CAL_GYRO1_EN, 1);
+PARAM_DEFINE_INT32(CAL_GYRO1_PRIO, 50);
 
 /**
  * Gyro X-axis offset

src/modules/sensors/sensor_params_gyro2.c

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2018 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2020 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -40,13 +40,19 @@
 PARAM_DEFINE_INT32(CAL_GYRO2_ID, 0);
 
 /**
- * Gyro 2 enabled
+ * Gyro 2 priority.
+ *
+ * @value 0   Disabled
+ * @value 1   Min
+ * @value 25  Low
+ * @value 50  Medium (Default)
+ * @value 75  High
+ * @value 100 Max
  *
- * @boolean
  * @category system
  * @group Sensor Calibration
  */
-PARAM_DEFINE_INT32(CAL_GYRO2_EN, 1);
+PARAM_DEFINE_INT32(CAL_GYRO2_PRIO, 50);
 
 /**
  * Gyro X-axis offset

src/modules/sensors/sensor_params_mag.c

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2020 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -31,14 +31,6 @@
  *
  ****************************************************************************/
 
-/**
- * Primary mag ID
- *
- * @category system
- * @group Sensor Calibration
- */
-PARAM_DEFINE_INT32(CAL_MAG_PRIME, 0);
-
 /**
  * Bitfield selecting mag sides for calibration
  *