Preflight tests with proper primary sensor handling #2918
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LorenzMeier
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… sensors need to be calibrated.
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@mhkabir @pavel-kirienko This is the last bit needed for UAVCAN: Instead of checking if the first unit on the bus is unchanged, it checks now if the prime unit is connected when trying to arm, allowing for a complete order change as long as the highest priority unit remains on the bus. With Pavel's latest startup script change this should not be strictly required, but its the right thing long-term. |
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Rebased and applied. |
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This branch introduces a new primary sensor parameter for each sensor which is set during calibration, and not yet enforced. I will probably switch this so its enforced if the primary is a UAVCAN device. This is not ready for testing yet. This PR will eventually solve the primary sensor handling related issues on systems with hot-plug sensors such as UAVCAN. As long as the sensor comes online before arming the system will use the right sensor and happily arm. It will only not arm if the primary sensor is not present.