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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/sensors/sensors.cpp
+14 -16
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@@ -325,41 +325,39 @@ int Sensors::parameters_update()
uint32_t device_id_mag = calibration::GetCalibrationParamInt32("MAG", "ID", i);
if (device_id_accel != 0) {
bool external_accel = (calibration::GetCalibrationParamInt32("ACC", "ROT", i) >= 0);
calibration::Accelerometer accel_cal(device_id_accel, external_accel);
calibration::Accelerometer accel_cal(device_id_accel);
}
if (device_id_gyro != 0) {
bool external_gyro = (calibration::GetCalibrationParamInt32("GYRO", "ROT", i) >= 0);
calibration::Gyroscope gyro_cal(device_id_gyro, external_gyro);
calibration::Gyroscope gyro_cal(device_id_gyro);
}
if (device_id_mag != 0) {
bool external_mag = (calibration::GetCalibrationParamInt32("MAG", "ROT", i) >= 0);
calibration::Magnetometer mag_cal(device_id_mag, external_mag);
calibration::Magnetometer mag_cal(device_id_mag);
}
}
// ensure calibration slots are active for the number of sensors currently available
// this to done to eliminate differences in the active set of parameters before and after sensor calibration
for (int i = 0; i < MAX_SENSOR_COUNT; i++) {
if (orb_exists(ORB_ID(sensor_accel), i) == PX4_OK) {
bool external = (calibration::GetCalibrationParamInt32("ACC", "ROT", i) >= 0);
calibration::Accelerometer cal{0, external};
for (uint8_t i = 0; i < MAX_SENSOR_COUNT; i++) {
uORB::SubscriptionData<sensor_accel_s> sensor_accel_sub{ORB_ID(sensor_accel), i};
uORB::SubscriptionData<sensor_gyro_s> sensor_gyro_sub{ORB_ID(sensor_gyro), i};
uORB::SubscriptionData<sensor_mag_s> sensor_mag_sub{ORB_ID(sensor_mag), i};
if (sensor_accel_sub.get().device_id != 0) {
calibration::Accelerometer cal{sensor_accel_sub.get().device_id};
cal.set_calibration_index(i);
cal.ParametersUpdate();
}
if (orb_exists(ORB_ID(sensor_gyro), i) == PX4_OK) {
bool external = (calibration::GetCalibrationParamInt32("GYRO", "ROT", i) >= 0);
calibration::Gyroscope cal{0, external};
if (sensor_gyro_sub.get().device_id != 0) {
calibration::Gyroscope cal{sensor_gyro_sub.get().device_id};
cal.set_calibration_index(i);
cal.ParametersUpdate();
}
if (orb_exists(ORB_ID(sensor_mag), i) == PX4_OK) {
bool external = (calibration::GetCalibrationParamInt32("MAG", "ROT", i) >= 0);
calibration::Magnetometer cal{0, external};
if (sensor_mag_sub.get().device_id != 0) {
calibration::Magnetometer cal{sensor_mag_sub.get().device_id};
cal.set_calibration_index(i);
cal.ParametersUpdate();
}