From b3d045d4d0ceda861dc52a8002d754821159cf99 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Mon, 30 Oct 2017 20:49:36 +1100 Subject: [PATCH] Revert "add boolean parameters to enable/disable each sensor" This reverts commit 9fde19259ead1c8bb042c52ee574a5fcdc4a7804. --- src/modules/sensors/sensor_params_accel.c | 24 ------------- src/modules/sensors/sensor_params_gyro.c | 24 ------------- src/modules/sensors/sensor_params_mag.c | 32 ----------------- src/modules/sensors/voted_sensors_update.cpp | 38 ++++++-------------- src/modules/sensors/voted_sensors_update.h | 2 -- 5 files changed, 10 insertions(+), 110 deletions(-) diff --git a/src/modules/sensors/sensor_params_accel.c b/src/modules/sensors/sensor_params_accel.c index 5a46ad21c7..1b85a23b76 100644 --- a/src/modules/sensors/sensor_params_accel.c +++ b/src/modules/sensors/sensor_params_accel.c @@ -45,14 +45,6 @@ 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 * @@ -102,14 +94,6 @@ 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 * @@ -159,14 +143,6 @@ 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 * diff --git a/src/modules/sensors/sensor_params_gyro.c b/src/modules/sensors/sensor_params_gyro.c index a8d4a33dd6..a3dbe35c31 100644 --- a/src/modules/sensors/sensor_params_gyro.c +++ b/src/modules/sensors/sensor_params_gyro.c @@ -45,14 +45,6 @@ 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 * @@ -102,14 +94,6 @@ 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 * @@ -159,14 +143,6 @@ 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 * diff --git a/src/modules/sensors/sensor_params_mag.c b/src/modules/sensors/sensor_params_mag.c index 056e22acd7..c9bee52cbe 100644 --- a/src/modules/sensors/sensor_params_mag.c +++ b/src/modules/sensors/sensor_params_mag.c @@ -65,14 +65,6 @@ 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. * @@ -164,14 +156,6 @@ 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. * @@ -263,14 +247,6 @@ 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. * @@ -364,14 +340,6 @@ 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. * diff --git a/src/modules/sensors/voted_sensors_update.cpp b/src/modules/sensors/voted_sensors_update.cpp index 0903e8f0a5..97a0ea7d2a 100644 --- a/src/modules/sensors/voted_sensors_update.cpp +++ b/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; } } @@ -258,12 +258,6 @@ 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; } @@ -346,12 +340,6 @@ 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; } @@ -462,12 +450,6 @@ 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; } @@ -549,7 +531,7 @@ void VotedSensorsUpdate::accel_poll(struct sensor_combined_s &raw) bool accel_updated; orb_check(_accel.subscription[uorb_index], &accel_updated); - if (accel_updated && _accel.enabled[uorb_index]) { + if (accel_updated) { struct accel_report accel_report; orb_copy(ORB_ID(sensor_accel), _accel.subscription[uorb_index], &accel_report); @@ -656,7 +638,7 @@ void VotedSensorsUpdate::gyro_poll(struct sensor_combined_s &raw) bool gyro_updated; orb_check(_gyro.subscription[uorb_index], &gyro_updated); - if (gyro_updated && _gyro.enabled[uorb_index]) { + if (gyro_updated) { struct gyro_report gyro_report; orb_copy(ORB_ID(sensor_gyro), _gyro.subscription[uorb_index], &gyro_report); @@ -761,7 +743,7 @@ void VotedSensorsUpdate::mag_poll(struct sensor_combined_s &raw) bool mag_updated; orb_check(_mag.subscription[uorb_index], &mag_updated); - if (mag_updated && _mag.enabled[uorb_index]) { + if (mag_updated) { struct mag_report mag_report; orb_copy(ORB_ID(sensor_mag), _mag.subscription[uorb_index], &mag_report); @@ -821,7 +803,7 @@ void VotedSensorsUpdate::baro_poll(struct sensor_combined_s &raw) bool baro_updated; orb_check(_baro.subscription[uorb_index], &baro_updated); - if (baro_updated && _baro.enabled[uorb_index]) { + if (baro_updated) { struct baro_report baro_report; orb_copy(ORB_ID(sensor_baro), _baro.subscription[uorb_index], &baro_report); diff --git a/src/modules/sensors/voted_sensors_update.h b/src/modules/sensors/voted_sensors_update.h index 203fc3350a..60d6f7cd10 100644 --- a/src/modules/sensors/voted_sensors_update.h +++ b/src/modules/sensors/voted_sensors_update.h @@ -164,8 +164,6 @@ 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 */