yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-22 09:28:58 +00:00
Code Issues Packages Projects Releases Wiki Activity

move initial sensor priority to parameters and purge ORB_PRIORITY

Browse Source 
- CAL_ACCx_EN -> CAL_ACCx_PRIO
 - CAL_GYROx_EN -> CAL_GYROx_PRIO
 - CAL_MAGx_EN -> CAL_MAGx_PRIO
This commit is contained in:
Daniel Agar
2020-08-16 22:21:04 -04:00
parent 971b1e4b4d
commit 27f23ac290
124 changed files with 463 additions and 509 deletions
Download Patch File Download Diff File Expand all files Collapse all files

23
src/modules/commander/accelerometer_calibration.cpp
View File

@@ -263,8 +263,6 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
calibration_log_info(mavlink_log_pub, CAL_QGC_STARTED_MSG, sensor_name);
calibration::Accelerometer calibrations[MAX_ACCEL_SENS] {};
ORB_PRIO device_prio_max = ORB_PRIO_UNINITIALIZED;
int32_t device_id_primary = 0;
unsigned active_sensors = 0;
for (uint8_t cur_accel = 0; cur_accel < MAX_ACCEL_SENS; cur_accel++) {
@@ -274,14 +272,6 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
calibrations[cur_accel].set_device_id(accel_sub.get().device_id);
active_sensors++;
// Get priority
const ORB_PRIO prio = accel_sub.get_priority();
if (prio > device_prio_max) {
device_prio_max = prio;
device_id_primary = accel_sub.get().device_id;
}
} else {
calibrations[cur_accel].Reset();
}
@@ -365,7 +355,6 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
calibrations[i].ParametersSave();
}
param_set_no_notification(param_find("CAL_ACC_PRIME"), &device_id_primary);
param_notify_changes();
/* if there is a any preflight-check system response, let the barrage of messages through */
@@ -384,7 +373,7 @@ int do_accel_calibration_quick(orb_advert_t *mavlink_log_pub)
#if !defined(CONSTRAINED_FLASH)
PX4_INFO("Accelerometer quick calibration");
int32_t device_id_primary = 0;
bool success = false;
// sensor thermal corrections (optional)
uORB::Subscription sensor_correction_sub{ORB_ID(sensor_correction)};
@@ -492,20 +481,16 @@ int do_accel_calibration_quick(orb_advert_t *mavlink_log_pub)
} else {
calibration.set_offset(offset);
success = true;
}
calibration.ParametersSave();
if (device_id_primary == 0) {
device_id_primary = arp.device_id;
}
calibration.PrintStatus();
}
}
if (device_id_primary != 0) {
param_set_no_notification(param_find("CAL_ACC_PRIME"), &device_id_primary);
if (success) {
param_notify_changes();
return PX4_OK;
}