Revert "add boolean parameters to enable/disable each sensor"

This reverts commit 9fde19259e.

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
  *

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
  *

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.
  *

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);

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 */