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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
2022-01-11 11:56:40 -05:00
parent d1304e1ceb
commit bb1177d504
18 changed files with 202 additions and 175 deletions
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src/modules/commander/accelerometer_calibration.cpp
+2 -8
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@@ -350,9 +350,6 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
} else {
calibrations[cur_accel].Reset();
}
// reset calibration index to match uORB numbering
calibrations[cur_accel].set_calibration_index(cur_accel);
}
if (active_sensors == 0) {
@@ -435,7 +432,7 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
calibrations[i].PrintStatus();
if (calibrations[i].ParametersSave()) {
if (calibrations[i].ParametersSave(i, true)) {
param_save = true;
failed = false;
@@ -587,9 +584,6 @@ int do_accel_calibration_quick(orb_advert_t *mavlink_log_pub)
calibration::Accelerometer calibration{arp.device_id};
// reset cal index to uORB
calibration.set_calibration_index(accel_index);
if (!calibrated || (offset.norm() > CONSTANTS_ONE_G)
|| !PX4_ISFINITE(offset(0))
|| !PX4_ISFINITE(offset(1))
@@ -601,7 +595,7 @@ int do_accel_calibration_quick(orb_advert_t *mavlink_log_pub)
calibration.set_offset(offset);
calibration.set_temperature(temperature_avg);
if (calibration.ParametersSave()) {
if (calibration.ParametersSave(accel_index)) {
calibration.PrintStatus();
param_save = true;
failed = false;