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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/sensors/voted_sensors_update.cpp
+2 -2
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@@ -90,7 +90,7 @@ void VotedSensorsUpdate::parametersUpdate()
if (imu.get().timestamp > 0 && imu.get().accel_device_id > 0 && imu.get().gyro_device_id > 0) {
// find corresponding configured accel priority
int8_t accel_cal_index = calibration::FindCalibrationIndex("ACC", imu.get().accel_device_id);
int8_t accel_cal_index = calibration::FindCurrentCalibrationIndex("ACC", imu.get().accel_device_id);
if (accel_cal_index >= 0) {
// found matching CAL_ACCx_PRIO
@@ -113,7 +113,7 @@ void VotedSensorsUpdate::parametersUpdate()
}
// find corresponding configured gyro priority
int8_t gyro_cal_index = calibration::FindCalibrationIndex("GYRO", imu.get().gyro_device_id);
int8_t gyro_cal_index = calibration::FindCurrentCalibrationIndex("GYRO", imu.get().gyro_device_id);
if (gyro_cal_index >= 0) {
// found matching CAL_GYROx_PRIO