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Revert "commander: update parameter strings to class enum"

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This reverts commit c322f1d156.
This commit is contained in:
Daniel Agar
2019-10-03 11:28:44 -04:00
parent 5f040fe24c
commit a5895e5a99
8 changed files with 70 additions and 73 deletions
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20
src/modules/commander/accelerometer_calibration.cpp
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@@ -128,7 +128,6 @@
#include "commander_helper.h"
#include <px4_defines.h>
#include <px4_param.h>
#include <px4_posix.h>
#include <px4_time.h>
#include <unistd.h>
@@ -291,7 +290,7 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
}
/* measurements completed successfully, rotate calibration values */
param_t board_rotation_h = param_handle(px4::params::SENS_BOARD_ROT);
param_t board_rotation_h = param_find("SENS_BOARD_ROT");
int32_t board_rotation_int;
param_get(board_rotation_h, &(board_rotation_int));
enum Rotation board_rotation_id = (enum Rotation)board_rotation_int;
@@ -318,8 +317,7 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
bool failed = false;
failed = failed
|| (PX4_OK != param_set_no_notification(param_handle(px4::params::CAL_ACC_PRIME), &(device_id_primary)));
failed = failed || (PX4_OK != param_set_no_notification(param_find("CAL_ACC_PRIME"), &(device_id_primary)));
PX4_INFO("found offset %d: x: %.6f, y: %.6f, z: %.6f", uorb_index,
@@ -617,10 +615,10 @@ calibrate_return read_accelerometer_avg(int sensor_correction_sub, int (&subs)[m
float (&accel_avg)[max_accel_sens][detect_orientation_side_count][3], unsigned orient, unsigned samples_num)
{
/* get total sensor board rotation matrix */
param_t board_rotation_h = param_handle(px4::params::SENS_BOARD_ROT);
param_t board_offset_x = param_handle(px4::params::SENS_BOARD_X_OFF);
param_t board_offset_y = param_handle(px4::params::SENS_BOARD_Y_OFF);
param_t board_offset_z = param_handle(px4::params::SENS_BOARD_Z_OFF);
param_t board_rotation_h = param_find("SENS_BOARD_ROT");
param_t board_offset_x = param_find("SENS_BOARD_X_OFF");
param_t board_offset_y = param_find("SENS_BOARD_Y_OFF");
param_t board_offset_z = param_find("SENS_BOARD_Z_OFF");
float board_offset[3];
param_get(board_offset_x, &board_offset[0]);
@@ -807,9 +805,9 @@ int do_level_calibration(orb_advert_t *mavlink_log_pub)
calibration_log_info(mavlink_log_pub, CAL_QGC_STARTED_MSG, "level");
param_t roll_offset_handle = param_handle(px4::params::SENS_BOARD_X_OFF);
param_t pitch_offset_handle = param_handle(px4::params::SENS_BOARD_Y_OFF);
param_t board_rot_handle = param_handle(px4::params::SENS_BOARD_ROT);
param_t roll_offset_handle = param_find("SENS_BOARD_X_OFF");
param_t pitch_offset_handle = param_find("SENS_BOARD_Y_OFF");
param_t board_rot_handle = param_find("SENS_BOARD_ROT");
// save old values if calibration fails
float roll_offset_current;