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accel/gyro/mag calibration set default priority uninitialized

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- this allows the default priority to be set differently for internal/external sensors
 - accel and gyro initialize default priority like mag in preparation for fully supporting external sensors
 - fixes #15652
This commit is contained in:
Daniel Agar
2020-09-13 21:02:53 -04:00
committed by GitHub
parent d70e183f5b
commit 13db2ebb2b
18 changed files with 86 additions and 36 deletions
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29
src/lib/sensor_calibration/Accelerometer.cpp
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@@ -48,21 +48,42 @@ Accelerometer::Accelerometer()
Reset();
}
Accelerometer::Accelerometer(uint32_t device_id)
Accelerometer::Accelerometer(uint32_t device_id, bool external)
{
Reset();
set_device_id(device_id);
set_device_id(device_id, external);
}
void Accelerometer::set_device_id(uint32_t device_id)
void Accelerometer::set_device_id(uint32_t device_id, bool external)
{
if (_device_id != device_id) {
if (_device_id != device_id || _external != external) {
set_external(external);
_device_id = device_id;
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