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

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This commit is contained in:
Daniel Agar
2022-01-10 10:31:07 -05:00
committed by GitHub
parent 45040be669
commit e731fcdbc0
36 changed files with 187 additions and 205 deletions
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src/modules/commander/mag_calibration.cpp
+2 -2
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@@ -540,7 +540,7 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub, int32_t cal_ma
uORB::SubscriptionData<sensor_mag_s> mag_sub{ORB_ID(sensor_mag), cur_mag};
if (mag_sub.advertised() && (mag_sub.get().device_id != 0) && (mag_sub.get().timestamp > 0)) {
worker_data.calibration[cur_mag].set_device_id(mag_sub.get().device_id, mag_sub.get().is_external);
worker_data.calibration[cur_mag].set_device_id(mag_sub.get().device_id);
}
// reset calibration index to match uORB numbering
@@ -1016,7 +1016,7 @@ int do_mag_calibration_quick(orb_advert_t *mavlink_log_pub, float heading_radian
if (mag_sub.advertised() && (mag.timestamp != 0) && (mag.device_id != 0)) {
calibration::Magnetometer cal{mag.device_id, mag.is_external};
calibration::Magnetometer cal{mag.device_id};
// force calibration index to uORB index
cal.set_calibration_index(cur_mag);