sensors (accel/gyro/mag) determine if external with device id

src/lib/drivers/magnetometer/PX4Magnetometer.cpp

@@ -75,8 +75,6 @@ void PX4Magnetometer::update(const hrt_abstime &timestamp_sample, float x, float
 	report.y = y * _scale;
 	report.z = z * _scale;
 
-	report.is_external = _external;
-
 	report.timestamp = hrt_absolute_time();
 	_sensor_pub.publish(report);
 }

src/lib/drivers/magnetometer/PX4Magnetometer.hpp

@@ -44,15 +44,12 @@ public:
 	PX4Magnetometer(uint32_t device_id, enum Rotation rotation = ROTATION_NONE);
 	~PX4Magnetometer();
 
-	bool external() { return _external; }
-
 	void set_device_id(uint32_t device_id) { _device_id = device_id; }
 	void set_device_type(uint8_t devtype);
 	void set_error_count(uint32_t error_count) { _error_count = error_count; }
 	void increase_error_count() { _error_count++; }
 	void set_scale(float scale) { _scale = scale; }
 	void set_temperature(float temperature) { _temperature = temperature; }
-	void set_external(bool external) { _external = external; }
 
 	void update(const hrt_abstime &timestamp_sample, float x, float y, float z);
 
@@ -67,6 +64,4 @@ private:
 	float			_scale{1.f};
 	float			_temperature{NAN};
 	uint32_t		_error_count{0};
-
-	bool _external{false};
 };

src/lib/sensor_calibration/Accelerometer.cpp

@@ -48,43 +48,27 @@ Accelerometer::Accelerometer()
 	Reset();
 }
 
-Accelerometer::Accelerometer(uint32_t device_id, bool external)
+Accelerometer::Accelerometer(uint32_t device_id)
 {
-	Reset();
-	set_device_id(device_id, external);
+	set_device_id(device_id);
 }
 
-void Accelerometer::set_device_id(uint32_t device_id, bool external)
+void Accelerometer::set_device_id(uint32_t device_id)
 {
+	bool external = DeviceExternal(device_id);
+
 	if (_device_id != device_id || _external != external) {
-		set_external(external);
+
 		_device_id = device_id;
+		_external = external;
+
+		Reset();
 
 		ParametersUpdate();
 		SensorCorrectionsUpdate(true);
 	}
 }
 
-void Accelerometer::set_external(bool external)
-{
-	// update priority default appropriately if not set
-	if (_calibration_index < 0 || _priority < 0) {
-		if ((_priority < 0) || (_priority > 100)) {
-			_priority = external ? DEFAULT_EXTERNAL_PRIORITY : DEFAULT_PRIORITY;
-
-		} else if (!_external && external && (_priority == DEFAULT_PRIORITY)) {
-			// internal -> external
-			_priority = DEFAULT_EXTERNAL_PRIORITY;
-
-		} else if (_external && !external && (_priority == DEFAULT_EXTERNAL_PRIORITY)) {
-			// external -> internal
-			_priority = DEFAULT_PRIORITY;
-		}
-	}
-
-	_external = external;
-}
-
 void Accelerometer::SensorCorrectionsUpdate(bool force)
 {
 	// check if the selected sensor has updated
@@ -162,7 +146,11 @@ void Accelerometer::set_rotation(Rotation rotation)
 
 void Accelerometer::ParametersUpdate()
 {
-	if (_device_id != 0) {
+	if (_device_id == 0) {
+		return;
+	}
+
+	if (_calibration_index < 0) {
 		_calibration_index = FindCalibrationIndex(SensorString(), _device_id);
 	}
 
@@ -173,22 +161,13 @@ void Accelerometer::ParametersUpdate()
 
 		if (_external) {
 			if ((rotation_value >= ROTATION_MAX) || (rotation_value < 0)) {
-				PX4_WARN("External %s %" PRIu32 " (%" PRId8 ") invalid rotation %" PRId32 ", resetting to rotation none",
-					 SensorString(), _device_id, _calibration_index, rotation_value);
+				// invalid rotation, resetting
 				rotation_value = ROTATION_NONE;
-				SetCalibrationParam(SensorString(), "ROT", _calibration_index, rotation_value);
 			}
 
 			set_rotation(static_cast<Rotation>(rotation_value));
 
 		} else {
-			// internal, CAL_ACCx_ROT -1
-			if (rotation_value != -1) {
-				PX4_ERR("Internal %s %" PRIu32 " (%" PRId8 ") invalid rotation %" PRId32 " resetting",
-					SensorString(), _device_id, _calibration_index, rotation_value);
-				SetCalibrationParam(SensorString(), "ROT", _calibration_index, -1);
-			}
-
 			// internal sensors follow board rotation
 			set_rotation(GetBoardRotation());
 		}
@@ -198,16 +177,16 @@ void Accelerometer::ParametersUpdate()
 
 		if ((_priority < 0) || (_priority > 100)) {
 			// reset to default, -1 is the uninitialized parameter value
-			int32_t new_priority = _external ? DEFAULT_EXTERNAL_PRIORITY : DEFAULT_PRIORITY;
+			static constexpr int32_t CAL_PRIO_UNINITIALIZED = -1;
 
-			if (_priority != -1) {
-				PX4_ERR("%s %" PRIu32 " (%" PRId8 ") invalid priority %" PRId32 ", resetting to %" PRId32, SensorString(), _device_id,
-					_calibration_index, _priority, new_priority);
+			if (_priority != CAL_PRIO_UNINITIALIZED) {
+				PX4_ERR("%s %" PRIu32 " (%" PRId8 ") invalid priority %" PRId32 ", resetting", SensorString(), _device_id,
+					_calibration_index, _priority);
 
-				SetCalibrationParam(SensorString(), "PRIO", _calibration_index, new_priority);
+				SetCalibrationParam(SensorString(), "PRIO", _calibration_index, CAL_PRIO_UNINITIALIZED);
 			}
 
-			_priority = new_priority;
+			_priority = _external ? DEFAULT_EXTERNAL_PRIORITY : DEFAULT_PRIORITY;
 		}
 
 		// CAL_ACCx_TEMP
@@ -268,7 +247,7 @@ bool Accelerometer::ParametersSave()
 			success &= SetCalibrationParam(SensorString(), "ROT", _calibration_index, (int32_t)_rotation_enum);
 
 		} else {
-			success &= SetCalibrationParam(SensorString(), "ROT", _calibration_index, -1);
+			success &= SetCalibrationParam(SensorString(), "ROT", _calibration_index, -1); // internal
 		}
 
 		if (PX4_ISFINITE(_temperature)) {
@@ -286,11 +265,22 @@ bool Accelerometer::ParametersSave()
 
 void Accelerometer::PrintStatus()
 {
-	PX4_INFO("%s %" PRIu32 " EN: %d, offset: [%.4f %.4f %.4f], scale: [%.4f %.4f %.4f], %.1f degC",
-		 SensorString(), device_id(), enabled(),
-		 (double)_offset(0), (double)_offset(1), (double)_offset(2),
-		 (double)_scale(0), (double)_scale(1), (double)_scale(2),
-		 (double)_temperature);
+	if (external()) {
+		PX4_INFO("%s %" PRIu32
+			 " EN: %d, offset: [%05.3f %05.3f %05.3f], scale: [%05.3f %05.3f %05.3f], %.1f degC, Ext ROT: %d",
+			 SensorString(), device_id(), enabled(),
+			 (double)_offset(0), (double)_offset(1), (double)_offset(2),
+			 (double)_scale(0), (double)_scale(1), (double)_scale(2),
+			 (double)_temperature,
+			 rotation_enum());
+
+	} else {
+		PX4_INFO("%s %" PRIu32 " EN: %d, offset: [%05.3f %05.3f %05.3f], scale: [%05.3f %05.3f %05.3f], %.1f degC, Internal",
+			 SensorString(), device_id(), enabled(),
+			 (double)_offset(0), (double)_offset(1), (double)_offset(2),
+			 (double)_scale(0), (double)_scale(1), (double)_scale(2),
+			 (double)_temperature);
+	}
 
 	if (_thermal_offset.norm() > 0.f) {
 		PX4_INFO("%s %" PRIu32 " temperature offset: [%.4f %.4f %.4f]", SensorString(), _device_id,

src/lib/sensor_calibration/Accelerometer.hpp

@@ -48,20 +48,19 @@ public:
 	static constexpr int MAX_SENSOR_COUNT = 4;
 
 	static constexpr uint8_t DEFAULT_PRIORITY = 50;
-	static constexpr uint8_t DEFAULT_EXTERNAL_PRIORITY = 25;
+	static constexpr uint8_t DEFAULT_EXTERNAL_PRIORITY = 75;
 
 	static constexpr const char *SensorString() { return "ACC"; }
 
 	Accelerometer();
-	explicit Accelerometer(uint32_t device_id, bool external = false);
+	explicit Accelerometer(uint32_t device_id);
 
 	~Accelerometer() = default;
 
 	void PrintStatus();
 
 	void set_calibration_index(uint8_t calibration_index) { _calibration_index = calibration_index; }
-	void set_device_id(uint32_t device_id, bool external = false);
-	void set_external(bool external = true);
+	void set_device_id(uint32_t device_id);
 	bool set_offset(const matrix::Vector3f &offset);
 	bool set_scale(const matrix::Vector3f &scale);
 	void set_rotation(Rotation rotation);

src/lib/sensor_calibration/Gyroscope.cpp

@@ -48,43 +48,27 @@ Gyroscope::Gyroscope()
 	Reset();
 }
 
-Gyroscope::Gyroscope(uint32_t device_id, bool external)
+Gyroscope::Gyroscope(uint32_t device_id)
 {
-	Reset();
-	set_device_id(device_id, external);
+	set_device_id(device_id);
 }
 
-void Gyroscope::set_device_id(uint32_t device_id, bool external)
+void Gyroscope::set_device_id(uint32_t device_id)
 {
+	bool external = DeviceExternal(device_id);
+
 	if (_device_id != device_id || _external != external) {
-		set_external(external);
+
 		_device_id = device_id;
+		_external = external;
+
+		Reset();
 
 		ParametersUpdate();
 		SensorCorrectionsUpdate(true);
 	}
 }
 
-void Gyroscope::set_external(bool external)
-{
-	// update priority default appropriately if not set
-	if (_calibration_index < 0 || _priority < 0) {
-		if ((_priority < 0) || (_priority > 100)) {
-			_priority = external ? DEFAULT_EXTERNAL_PRIORITY : DEFAULT_PRIORITY;
-
-		} else if (!_external && external && (_priority == DEFAULT_PRIORITY)) {
-			// internal -> external
-			_priority = DEFAULT_EXTERNAL_PRIORITY;
-
-		} else if (_external && !external && (_priority == DEFAULT_EXTERNAL_PRIORITY)) {
-			// external -> internal
-			_priority = DEFAULT_PRIORITY;
-		}
-	}
-
-	_external = external;
-}
-
 void Gyroscope::SensorCorrectionsUpdate(bool force)
 {
 	// check if the selected sensor has updated
@@ -147,7 +131,11 @@ void Gyroscope::set_rotation(Rotation rotation)
 
 void Gyroscope::ParametersUpdate()
 {
-	if (_device_id != 0) {
+	if (_device_id == 0) {
+		return;
+	}
+
+	if (_calibration_index < 0) {
 		_calibration_index = FindCalibrationIndex(SensorString(), _device_id);
 	}
 
@@ -158,22 +146,13 @@ void Gyroscope::ParametersUpdate()
 
 		if (_external) {
 			if ((rotation_value >= ROTATION_MAX) || (rotation_value < 0)) {
-				PX4_WARN("External %s %" PRIu32 " (%" PRId8 ") invalid rotation %" PRId32 ", resetting to rotation none",
-					 SensorString(), _device_id, _calibration_index, rotation_value);
+				// invalid rotation, resetting
 				rotation_value = ROTATION_NONE;
-				SetCalibrationParam(SensorString(), "ROT", _calibration_index, rotation_value);
 			}
 
 			set_rotation(static_cast<Rotation>(rotation_value));
 
 		} else {
-			// internal, CAL_GYROx_ROT -1
-			if (rotation_value != -1) {
-				PX4_ERR("Internal %s %" PRIu32 " (%" PRId8 ") invalid rotation %" PRId32 " resetting",
-					SensorString(), _device_id, _calibration_index, rotation_value);
-				SetCalibrationParam(SensorString(), "ROT", _calibration_index, -1);
-			}
-
 			// internal sensors follow board rotation
 			set_rotation(GetBoardRotation());
 		}
@@ -183,16 +162,16 @@ void Gyroscope::ParametersUpdate()
 
 		if ((_priority < 0) || (_priority > 100)) {
 			// reset to default, -1 is the uninitialized parameter value
-			int32_t new_priority = _external ? DEFAULT_EXTERNAL_PRIORITY : DEFAULT_PRIORITY;
+			static constexpr int32_t CAL_PRIO_UNINITIALIZED = -1;
 
-			if (_priority != -1) {
-				PX4_ERR("%s %" PRIu32 " (%" PRId8 ") invalid priority %" PRId32 ", resetting to %" PRId32, SensorString(), _device_id,
-					_calibration_index, _priority, new_priority);
+			if (_priority != CAL_PRIO_UNINITIALIZED) {
+				PX4_ERR("%s %" PRIu32 " (%" PRId8 ") invalid priority %" PRId32 ", resetting", SensorString(), _device_id,
+					_calibration_index, _priority);
 
-				SetCalibrationParam(SensorString(), "PRIO", _calibration_index, new_priority);
+				SetCalibrationParam(SensorString(), "PRIO", _calibration_index, CAL_PRIO_UNINITIALIZED);
 			}
 
-			_priority = new_priority;
+			_priority = _external ? DEFAULT_EXTERNAL_PRIORITY : DEFAULT_PRIORITY;
 		}
 
 		// CAL_GYROx_TEMP
@@ -248,7 +227,7 @@ bool Gyroscope::ParametersSave()
 			success &= SetCalibrationParam(SensorString(), "ROT", _calibration_index, (int32_t)_rotation_enum);
 
 		} else {
-			success &= SetCalibrationParam(SensorString(), "ROT", _calibration_index, -1);
+			success &= SetCalibrationParam(SensorString(), "ROT", _calibration_index, -1); // internal
 		}
 
 		if (PX4_ISFINITE(_temperature)) {
@@ -266,10 +245,20 @@ bool Gyroscope::ParametersSave()
 
 void Gyroscope::PrintStatus()
 {
-	PX4_INFO("%s %" PRIu32 " EN: %d, offset: [%.4f %.4f %.4f], %.1f degC",
-		 SensorString(), device_id(), enabled(),
-		 (double)_offset(0), (double)_offset(1), (double)_offset(2),
-		 (double)_temperature);
+	if (external()) {
+		PX4_INFO("%s %" PRIu32
+			 " EN: %d, offset: [%05.3f %05.3f %05.3f], %.1f degC, Ext ROT: %d",
+			 SensorString(), device_id(), enabled(),
+			 (double)_offset(0), (double)_offset(1), (double)_offset(2),
+			 (double)_temperature,
+			 rotation_enum());
+
+	} else {
+		PX4_INFO("%s %" PRIu32 " EN: %d, offset: [%05.3f %05.3f %05.3f], %.1f degC, Internal",
+			 SensorString(), device_id(), enabled(),
+			 (double)_offset(0), (double)_offset(1), (double)_offset(2),
+			 (double)_temperature);
+	}
 
 	if (_thermal_offset.norm() > 0.f) {
 		PX4_INFO("%s %" PRIu32 " temperature offset: [%.4f %.4f %.4f]", SensorString(), _device_id,

src/lib/sensor_calibration/Gyroscope.hpp

@@ -48,20 +48,19 @@ public:
 	static constexpr int MAX_SENSOR_COUNT = 4;
 
 	static constexpr uint8_t DEFAULT_PRIORITY = 50;
-	static constexpr uint8_t DEFAULT_EXTERNAL_PRIORITY = 25;
+	static constexpr uint8_t DEFAULT_EXTERNAL_PRIORITY = 75;
 
 	static constexpr const char *SensorString() { return "GYRO"; }
 
 	Gyroscope();
-	explicit Gyroscope(uint32_t device_id, bool external = false);
+	explicit Gyroscope(uint32_t device_id);
 
 	~Gyroscope() = default;
 
 	void PrintStatus();
 
 	void set_calibration_index(uint8_t calibration_index) { _calibration_index = calibration_index; }
-	void set_device_id(uint32_t device_id, bool external = false);
-	void set_external(bool external = true);
+	void set_device_id(uint32_t device_id);
 	bool set_offset(const matrix::Vector3f &offset);
 	void set_rotation(Rotation rotation);
 	void set_temperature(float temperature) { _temperature = temperature; };

src/lib/sensor_calibration/Magnetometer.cpp

@@ -48,42 +48,26 @@ Magnetometer::Magnetometer()
 	Reset();
 }
 
-Magnetometer::Magnetometer(uint32_t device_id, bool external)
+Magnetometer::Magnetometer(uint32_t device_id)
 {
-	Reset();
-	set_device_id(device_id, external);
+	set_device_id(device_id);
 }
 
-void Magnetometer::set_device_id(uint32_t device_id, bool external)
+void Magnetometer::set_device_id(uint32_t device_id)
 {
+	bool external = DeviceExternal(device_id);
+
 	if (_device_id != device_id || _external != external) {
-		set_external(external);
+
 		_device_id = device_id;
+		_external = external;
+
+		Reset();
 
 		ParametersUpdate();
 	}
 }
 
-void Magnetometer::set_external(bool external)
-{
-	// update priority default appropriately if not set
-	if (_calibration_index < 0 || _priority < 0) {
-		if ((_priority < 0) || (_priority > 100)) {
-			_priority = external ? DEFAULT_EXTERNAL_PRIORITY : DEFAULT_PRIORITY;
-
-		} else if (!_external && external && (_priority == DEFAULT_PRIORITY)) {
-			// internal -> external
-			_priority = DEFAULT_EXTERNAL_PRIORITY;
-
-		} else if (_external && !external && (_priority == DEFAULT_EXTERNAL_PRIORITY)) {
-			// external -> internal
-			_priority = DEFAULT_PRIORITY;
-		}
-	}
-
-	_external = external;
-}
-
 bool Magnetometer::set_offset(const Vector3f &offset)
 {
 	if (Vector3f(_offset - offset).longerThan(0.01f)) {
@@ -147,7 +131,11 @@ void Magnetometer::set_rotation(Rotation rotation)
 
 void Magnetometer::ParametersUpdate()
 {
-	if (_device_id != 0) {
+	if (_device_id == 0) {
+		return;
+	}
+
+	if (_calibration_index < 0) {
 		_calibration_index = FindCalibrationIndex(SensorString(), _device_id);
 	}
 
@@ -158,22 +146,13 @@ void Magnetometer::ParametersUpdate()
 
 		if (_external) {
 			if ((rotation_value >= ROTATION_MAX) || (rotation_value < 0)) {
-				PX4_WARN("External %s %" PRIu32 " (%" PRId8 ") invalid rotation %" PRId32 ", resetting to rotation none",
-					 SensorString(), _device_id, _calibration_index, rotation_value);
+				// invalid rotation, resetting
 				rotation_value = ROTATION_NONE;
-				SetCalibrationParam(SensorString(), "ROT", _calibration_index, rotation_value);
 			}
 
 			set_rotation(static_cast<Rotation>(rotation_value));
 
 		} else {
-			// internal mag, CAL_MAGx_ROT -1
-			if (rotation_value != -1) {
-				PX4_ERR("Internal %s %" PRIu32 " (%" PRId8 ") invalid rotation %" PRId32 " resetting",
-					SensorString(), _device_id, _calibration_index, rotation_value);
-				SetCalibrationParam(SensorString(), "ROT", _calibration_index, -1);
-			}
-
 			// internal sensors follow board rotation
 			set_rotation(GetBoardRotation());
 		}
@@ -183,16 +162,16 @@ void Magnetometer::ParametersUpdate()
 
 		if ((_priority < 0) || (_priority > 100)) {
 			// reset to default, -1 is the uninitialized parameter value
-			int32_t new_priority = _external ? DEFAULT_EXTERNAL_PRIORITY : DEFAULT_PRIORITY;
+			static constexpr int32_t CAL_PRIO_UNINITIALIZED = -1;
 
-			if (_priority != -1) {
-				PX4_ERR("%s %" PRIu32 " (%" PRId8 ") invalid priority %" PRId32 ", resetting to %" PRId32, SensorString(), _device_id,
-					_calibration_index, _priority, new_priority);
+			if (_priority != CAL_PRIO_UNINITIALIZED) {
+				PX4_ERR("%s %" PRIu32 " (%" PRId8 ") invalid priority %" PRId32 ", resetting", SensorString(), _device_id,
+					_calibration_index, _priority);
 
-				SetCalibrationParam(SensorString(), "PRIO", _calibration_index, new_priority);
+				SetCalibrationParam(SensorString(), "PRIO", _calibration_index, CAL_PRIO_UNINITIALIZED);
 			}
 
-			_priority = new_priority;
+			_priority = _external ? DEFAULT_EXTERNAL_PRIORITY : DEFAULT_PRIORITY;
 		}
 
 		// CAL_MAGx_TEMP
@@ -268,7 +247,7 @@ bool Magnetometer::ParametersSave()
 			success &= SetCalibrationParam(SensorString(), "ROT", _calibration_index, (int32_t)_rotation_enum);
 
 		} else {
-			success &= SetCalibrationParam(SensorString(), "ROT", _calibration_index, -1);
+			success &= SetCalibrationParam(SensorString(), "ROT", _calibration_index, -1); // internal
 		}
 
 		if (PX4_ISFINITE(_temperature)) {

src/lib/sensor_calibration/Magnetometer.hpp

@@ -54,15 +54,14 @@ public:
 	static constexpr const char *SensorString() { return "MAG"; }
 
 	Magnetometer();
-	explicit Magnetometer(uint32_t device_id, bool external = false);
+	explicit Magnetometer(uint32_t device_id);
 
 	~Magnetometer() = default;
 
 	void PrintStatus();
 
 	void set_calibration_index(uint8_t calibration_index) { _calibration_index = calibration_index; }
-	void set_device_id(uint32_t device_id, bool external = false);
-	void set_external(bool external = true);
+	void set_device_id(uint32_t device_id);
 	bool set_offset(const matrix::Vector3f &offset);
 	bool set_scale(const matrix::Vector3f &scale);
 	bool set_offdiagonal(const matrix::Vector3f &offdiagonal);

src/lib/sensor_calibration/Utilities.cpp

@@ -34,9 +34,18 @@
 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/log.h>
 #include <lib/conversion/rotation.h>
+#include <lib/drivers/device/Device.hpp>
 #include <lib/mathlib/mathlib.h>
 #include <lib/parameters/param.h>
 
+#if defined(CONFIG_I2C)
+# include <px4_platform_common/i2c.h>
+#endif // CONFIG_I2C
+
+#if defined(CONFIG_SPI)
+# include <px4_platform_common/spi.h>
+#endif // CONFIG_SPI
+
 using math::radians;
 using matrix::Eulerf;
 using matrix::Dcmf;
@@ -179,4 +188,51 @@ Dcmf GetBoardRotationMatrix()
 	return get_rot_matrix(GetBoardRotation());
 }
 
+bool DeviceExternal(uint32_t device_id)
+{
+	bool external = true;
+
+	// decode device id to determine if external
+	union device::Device::DeviceId id {};
+	id.devid = device_id;
+
+	const device::Device::DeviceBusType bus_type = id.devid_s.bus_type;
+
+	switch (bus_type) {
+	case device::Device::DeviceBusType_I2C:
+#if defined(CONFIG_I2C)
+		external = px4_i2c_bus_external(id.devid_s.bus);
+#endif // CONFIG_I2C
+		break;
+
+	case device::Device::DeviceBusType_SPI:
+#if defined(CONFIG_SPI)
+		external = px4_spi_bus_external(id.devid_s.bus);
+#endif // CONFIG_SPI
+		break;
+
+	case device::Device::DeviceBusType_UAVCAN:
+		external = true;
+		break;
+
+	case device::Device::DeviceBusType_SIMULATION:
+		external = false;
+		break;
+
+	case device::Device::DeviceBusType_SERIAL:
+		external = true;
+		break;
+
+	case device::Device::DeviceBusType_MAVLINK:
+		external = true;
+		break;
+
+	case device::Device::DeviceBusType_UNKNOWN:
+		external = true;
+		break;
+	}
+
+	return external;
+}
+
 } // namespace calibration

src/lib/sensor_calibration/Utilities.hpp

@@ -132,4 +132,11 @@ Rotation GetBoardRotation();
  */
 matrix::Dcmf GetBoardRotationMatrix();
 
+/**
+ * @brief Determine if device is on an external bus
+ *
+ * @return true if device is on an external bus
+ */
+bool DeviceExternal(uint32_t device_id);
+
 } // namespace calibration