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sensor_calibration: refactor and centralize calibration slot logic

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- centralize logic for selecting a preferred calibration slot
   - automatically use existing calibration slot if it exists, otherwise
find first available slot, with a preference for a requested index
 - existing commander calibration methods rewrite all calibration slots
to match current sensor ordering
This commit is contained in:
Daniel Agar
2022-01-12 16:16:26 -05:00
parent d1304e1ceb
commit bb1177d504
18 changed files with 202 additions and 175 deletions
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src/modules/commander/Arming/PreFlightCheck/checks/accelerometerCheck.cpp
+1 -1
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@@ -69,7 +69,7 @@ bool PreFlightCheck::accelerometerCheck(orb_advert_t *mavlink_log_pub, vehicle_s
calibration_valid = true;
} else {
calibration_valid = (calibration::FindCalibrationIndex("ACC", device_id) >= 0);
calibration_valid = (calibration::FindCurrentCalibrationIndex("ACC", device_id) >= 0);
}
if (!calibration_valid) {
src/modules/commander/Arming/PreFlightCheck/checks/gyroCheck.cpp
+1 -1
View File
@@ -68,7 +68,7 @@ bool PreFlightCheck::gyroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &
calibration_valid = true;
} else {
calibration_valid = (calibration::FindCalibrationIndex("GYRO", device_id) >= 0);
calibration_valid = (calibration::FindCurrentCalibrationIndex("GYRO", device_id) >= 0);
}
if (!calibration_valid) {
src/modules/commander/Arming/PreFlightCheck/checks/magnetometerCheck.cpp
+1 -1
View File
@@ -70,7 +70,7 @@ bool PreFlightCheck::magnetometerCheck(orb_advert_t *mavlink_log_pub, vehicle_st
calibration_valid = true;
} else {
calibration_valid = (calibration::FindCalibrationIndex("MAG", device_id) >= 0);
calibration_valid = (calibration::FindCurrentCalibrationIndex("MAG", device_id) >= 0);
}
if (!calibration_valid) {