add boolean parameters to enable/disable each sensor

src/modules/sensors/sensor_params_accel.c

@@ -45,6 +45,14 @@ PARAM_DEFINE_INT32(CAL_ACC_PRIME, 0);
  */
 PARAM_DEFINE_INT32(CAL_ACC0_ID, 0);
 
+/**
+ * Accelerometer 0 enabled
+ *
+ * @boolean
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_ACC0_EN, 1);
+
 /**
  * Accelerometer X-axis offset
  *
@@ -94,6 +102,14 @@ PARAM_DEFINE_FLOAT(CAL_ACC0_ZSCALE, 1.0f);
  */
 PARAM_DEFINE_INT32(CAL_ACC1_ID, 0);
 
+/**
+ * Accelerometer 1 enabled
+ *
+ * @boolean
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_ACC1_EN, 1);
+
 /**
  * Accelerometer X-axis offset
  *
@@ -143,6 +159,14 @@ PARAM_DEFINE_FLOAT(CAL_ACC1_ZSCALE, 1.0f);
  */
 PARAM_DEFINE_INT32(CAL_ACC2_ID, 0);
 
+/**
+ * Accelerometer 2 enabled
+ *
+ * @boolean
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_ACC2_EN, 1);
+
 /**
  * Accelerometer X-axis offset
  *

src/modules/sensors/sensor_params_gyro.c

@@ -45,6 +45,14 @@ PARAM_DEFINE_INT32(CAL_GYRO_PRIME, 0);
  */
 PARAM_DEFINE_INT32(CAL_GYRO0_ID, 0);
 
+/**
+ * Gyro 0 enabled
+ *
+ * @boolean
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_GYRO0_EN, 1);
+
 /**
  * Gyro X-axis offset
  *
@@ -94,6 +102,14 @@ PARAM_DEFINE_FLOAT(CAL_GYRO0_ZSCALE, 1.0f);
  */
 PARAM_DEFINE_INT32(CAL_GYRO1_ID, 0);
 
+/**
+ * Gyro 1 enabled
+ *
+ * @boolean
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_GYRO1_EN, 1);
+
 /**
  * Gyro X-axis offset
  *
@@ -143,6 +159,14 @@ PARAM_DEFINE_FLOAT(CAL_GYRO1_ZSCALE, 1.0f);
  */
 PARAM_DEFINE_INT32(CAL_GYRO2_ID, 0);
 
+/**
+ * Gyro 2 enabled
+ *
+ * @boolean
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_GYRO2_EN, 1);
+
 /**
  * Gyro X-axis offset
  *

src/modules/sensors/sensor_params_mag.c

@@ -65,6 +65,14 @@ PARAM_DEFINE_INT32(CAL_MAG_SIDES, 63);
  */
 PARAM_DEFINE_INT32(CAL_MAG0_ID, 0);
 
+/**
+ * Mag 0 enabled
+ *
+ * @boolean
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_MAG0_EN, 1);
+
 /**
  * Rotation of magnetometer 0 relative to airframe.
  *
@@ -156,6 +164,14 @@ PARAM_DEFINE_FLOAT(CAL_MAG0_ZSCALE, 1.0f);
  */
 PARAM_DEFINE_INT32(CAL_MAG1_ID, 0);
 
+/**
+ * Mag 1 enabled
+ *
+ * @boolean
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_MAG1_EN, 1);
+
 /**
  * Rotation of magnetometer 1 relative to airframe.
  *
@@ -247,6 +263,14 @@ PARAM_DEFINE_FLOAT(CAL_MAG1_ZSCALE, 1.0f);
  */
 PARAM_DEFINE_INT32(CAL_MAG2_ID, 0);
 
+/**
+ * Mag 2 enabled
+ *
+ * @boolean
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_MAG2_EN, 1);
+
 /**
  * Rotation of magnetometer 2 relative to airframe.
  *
@@ -340,6 +364,14 @@ PARAM_DEFINE_FLOAT(CAL_MAG2_ZSCALE, 1.0f);
  */
 PARAM_DEFINE_INT32(CAL_MAG3_ID, 0);
 
+/**
+ * Mag 3 enabled
+ *
+ * @boolean
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_MAG3_EN, 1);
+
 /**
  * Rotation of magnetometer 2 relative to airframe.
  *

src/modules/sensors/voted_sensors_update.cpp

@@ -168,10 +168,10 @@ void VotedSensorsUpdate::parameters_update()
 				if (temp < 0) {
 					PX4_ERR("gyro temp compensation init: failed to find device ID %u for instance %i",
 						report.device_id, topic_instance);
-					_corrections.gyro_mapping[topic_instance] =  0;
+					_corrections.gyro_mapping[topic_instance] = 0;
 
 				} else {
-					_corrections.gyro_mapping[topic_instance] =  temp;
+					_corrections.gyro_mapping[topic_instance] = temp;
 
 				}
 			}
@@ -192,10 +192,10 @@ void VotedSensorsUpdate::parameters_update()
 				if (temp < 0) {
 					PX4_ERR("accel temp compensation init: failed to find device ID %u for instance %i",
 						report.device_id, topic_instance);
-					_corrections.accel_mapping[topic_instance] =  0;
+					_corrections.accel_mapping[topic_instance] = 0;
 
 				} else {
-					_corrections.accel_mapping[topic_instance] =  temp;
+					_corrections.accel_mapping[topic_instance] = temp;
 
 				}
 			}
@@ -215,10 +215,10 @@ void VotedSensorsUpdate::parameters_update()
 				if (temp < 0) {
 					PX4_ERR("baro temp compensation init: failed to find device ID %u for instance %i",
 						report.device_id, topic_instance);
-					_corrections.baro_mapping[topic_instance] =  0;
+					_corrections.baro_mapping[topic_instance] = 0;
 
 				} else {
-					_corrections.baro_mapping[topic_instance] =  temp;
+					_corrections.baro_mapping[topic_instance] = temp;
 
 				}
 			}
@@ -258,6 +258,12 @@ void VotedSensorsUpdate::parameters_update()
 			int32_t device_id;
 			failed = failed || (OK != param_get(param_find(str), &device_id));
 
+			(void)sprintf(str, "CAL_GYRO%u_EN", i);
+			int32_t device_enabled = 0;
+			failed = failed || (OK != param_get(param_find(str), &device_enabled));
+
+			_gyro.enabled[i] = (device_enabled == 1);
+
 			if (failed) {
 				continue;
 			}
@@ -340,6 +346,12 @@ void VotedSensorsUpdate::parameters_update()
 			int32_t device_id;
 			failed = failed || (OK != param_get(param_find(str), &device_id));
 
+			(void)sprintf(str, "CAL_ACC%u_EN", i);
+			int32_t device_enabled = 0;
+			failed = failed || (OK != param_get(param_find(str), &device_enabled));
+
+			_accel.enabled[i] = (device_enabled == 1);
+
 			if (failed) {
 				continue;
 			}
@@ -450,6 +462,12 @@ void VotedSensorsUpdate::parameters_update()
 			int32_t device_id;
 			failed = failed || (OK != param_get(param_find(str), &device_id));
 
+			(void)sprintf(str, "CAL_MAG%u_EN", i);
+			int32_t device_enabled = 0;
+			failed = failed || (OK != param_get(param_find(str), &device_enabled));
+
+			_mag.enabled[i] = (device_enabled == 1);
+
 			if (failed) {
 				continue;
 			}
@@ -531,7 +549,7 @@ void VotedSensorsUpdate::accel_poll(struct sensor_combined_s &raw)
 		bool accel_updated;
 		orb_check(_accel.subscription[uorb_index], &accel_updated);
 
-		if (accel_updated) {
+		if (accel_updated && _accel.enabled[uorb_index]) {
 			struct accel_report accel_report;
 
 			orb_copy(ORB_ID(sensor_accel), _accel.subscription[uorb_index], &accel_report);
@@ -638,7 +656,7 @@ void VotedSensorsUpdate::gyro_poll(struct sensor_combined_s &raw)
 		bool gyro_updated;
 		orb_check(_gyro.subscription[uorb_index], &gyro_updated);
 
-		if (gyro_updated) {
+		if (gyro_updated && _gyro.enabled[uorb_index]) {
 			struct gyro_report gyro_report;
 
 			orb_copy(ORB_ID(sensor_gyro), _gyro.subscription[uorb_index], &gyro_report);
@@ -743,7 +761,7 @@ void VotedSensorsUpdate::mag_poll(struct sensor_combined_s &raw)
 		bool mag_updated;
 		orb_check(_mag.subscription[uorb_index], &mag_updated);
 
-		if (mag_updated) {
+		if (mag_updated && _mag.enabled[uorb_index]) {
 			struct mag_report mag_report;
 
 			orb_copy(ORB_ID(sensor_mag), _mag.subscription[uorb_index], &mag_report);
@@ -803,7 +821,7 @@ void VotedSensorsUpdate::baro_poll(struct sensor_combined_s &raw)
 		bool baro_updated;
 		orb_check(_baro.subscription[uorb_index], &baro_updated);
 
-		if (baro_updated) {
+		if (baro_updated && _baro.enabled[uorb_index]) {
 			struct baro_report baro_report;
 
 			orb_copy(ORB_ID(sensor_baro), _baro.subscription[uorb_index], &baro_report);

src/modules/sensors/voted_sensors_update.h

@@ -164,6 +164,8 @@ private:
 			}
 		}
 
+		bool enabled[SENSOR_COUNT_MAX];
+
 		int subscription[SENSOR_COUNT_MAX]; /**< raw sensor data subscription */
 		uint8_t priority[SENSOR_COUNT_MAX]; /**< sensor priority */
 		uint8_t last_best_vote; /**< index of the latest best vote */