Rationalisation of sensor function names

src/main/fc/config.c

@@ -420,8 +420,8 @@ static void activateConfig(void)
 
     failsafeReset();
 
-    setAccelerationCalibrationValues();
+    accSetCalibrationValues();
-    setAccelerationFilter();
+    accInitFilters();
 
     imuConfigure();
 

src/main/fc/fc_msp.c

@@ -565,7 +565,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
         sbufWriteU8(dst, getConfigProfile());
         sbufWriteU16(dst, averageSystemLoadPercent);
         sbufWriteU16(dst, armingFlags);
-        sbufWriteU8(dst, getAccelerometerCalibrationAxisFlags());
+        sbufWriteU8(dst, accGetCalibrationAxisFlags());
         break;
 
     case MSP_STATUS:

src/main/fc/fc_tasks.c

@@ -103,7 +103,7 @@ void taskUpdateBattery(timeUs_t currentTimeUs)
         if (cmpTimeUs(currentTimeUs, vbatLastServiced) >= VBATINTERVAL) {
             timeUs_t vbatTimeDelta = currentTimeUs - vbatLastServiced;
             vbatLastServiced = currentTimeUs;
-            updateBattery(vbatTimeDelta);
+            batteryUpdate(vbatTimeDelta);
         }
     }
 
@@ -112,7 +112,7 @@ void taskUpdateBattery(timeUs_t currentTimeUs)
 
         if (ibatTimeSinceLastServiced >= IBATINTERVAL) {
             ibatLastServiced = currentTimeUs;
-            updateCurrentMeter(ibatTimeSinceLastServiced, flight3DConfig()->deadband3d_throttle);
+            currentMeterUpdate(ibatTimeSinceLastServiced, flight3DConfig()->deadband3d_throttle);
         }
     }
 }

src/main/fc/mw.c

@@ -105,14 +105,14 @@ static bool isRXDataNew;
 bool isCalibrating(void)
 {
 #ifdef BARO
-    if (sensors(SENSOR_BARO) && !isBaroCalibrationComplete()) {
+    if (sensors(SENSOR_BARO) && !baroIsCalibrationComplete()) {
         return true;
     }
 #endif
 
     // Note: compass calibration is handled completely differently, outside of the main loop, see f.CALIBRATE_MAG
 
-    return (!isAccelerationCalibrationComplete() && sensors(SENSOR_ACC)) || (!gyroIsCalibrationComplete());
+    return (!accIsCalibrationComplete() && sensors(SENSOR_ACC)) || (!gyroIsCalibrationComplete());
 }
 
 int16_t getAxisRcCommand(int16_t rawData, int16_t rate, int16_t deadband)

src/main/fc/serial_cli.c

@@ -3275,6 +3275,13 @@ static void cliSet(char *cmdline)
     }
 }
 
+static const char * getBatteryStateString(void)
+{
+    static const char * const batteryStateStrings[] = {"OK", "WARNING", "CRITICAL", "NOT PRESENT"};
+
+    return batteryStateStrings[getBatteryState()];
+}
+
 static void cliStatus(char *cmdline)
 {
     UNUSED(cmdline);

src/main/flight/imu.c

@@ -610,12 +610,12 @@ void imuUpdateAccelerometer(void)
 {
 #ifdef HIL
     if (sensors(SENSOR_ACC) && !hilActive) {
-        updateAccelerationReadings();
+        accUpdate();
         isAccelUpdatedAtLeastOnce = true;
     }
 #else
     if (sensors(SENSOR_ACC)) {
-        updateAccelerationReadings();
+        accUpdate();
         isAccelUpdatedAtLeastOnce = true;
     }
 #endif

src/main/flight/navigation_rewrite_pos_estimator.c

@@ -419,7 +419,7 @@ static void updateBaroTopic(timeUs_t currentTimeUs)
             initialBaroAltitudeOffset = newBaroAlt;
         }
 
-        if (sensors(SENSOR_BARO) && isBaroCalibrationComplete()) {
+        if (sensors(SENSOR_BARO) && baroIsCalibrationComplete()) {
             posEstimator.baro.alt = newBaroAlt - initialBaroAltitudeOffset;
             posEstimator.baro.epv = positionEstimationConfig()->baro_epv;
             posEstimator.baro.lastUpdateTime = currentTimeUs;
@@ -443,7 +443,7 @@ static void updatePitotTopic(timeUs_t currentTimeUs)
 
     if (updateTimer(&pitotUpdateTimer, HZ2US(INAV_PITOT_UPDATE_RATE), currentTimeUs)) {
         float newTAS = pitotCalculateAirSpeed();
-        if (sensors(SENSOR_PITOT) && isPitotCalibrationComplete()) {
+        if (sensors(SENSOR_PITOT) && pitotIsCalibrationComplete()) {
             posEstimator.pitot.airspeed = newTAS;
         }
         else {

src/main/flight/servos.h

@@ -17,6 +17,8 @@
 
 #pragma once
 
+#include "config/parameter_group.h"
+
 #if defined(USE_QUAD_MIXER_ONLY)
 #define MAX_SUPPORTED_SERVOS 1
 #else

src/main/sensors/acceleration.c

@@ -264,7 +264,7 @@ bool accInit(uint32_t targetLooptime)
     acc.dev.acc_1G = 256; // set default
     acc.dev.init(&acc.dev);
     acc.accTargetLooptime = targetLooptime;
-    setAccelerationFilter();
+    accInitFilters();
     if (accelerometerConfig()->acc_align != ALIGN_DEFAULT) {
         acc.dev.accAlign = accelerometerConfig()->acc_align;
     }
@@ -276,17 +276,17 @@ void accSetCalibrationCycles(uint16_t calibrationCyclesRequired)
     calibratingA = calibrationCyclesRequired;
 }
 
-bool isAccelerationCalibrationComplete(void)
+bool accIsCalibrationComplete(void)
 {
     return calibratingA == 0;
 }
 
-bool isOnFinalAccelerationCalibrationCycle(void)
+static bool isOnFinalAccelerationCalibrationCycle(void)
 {
     return calibratingA == 1;
 }
 
-bool isOnFirstAccelerationCalibrationCycle(void)
+static bool isOnFirstAccelerationCalibrationCycle(void)
 {
     return calibratingA == CALIBRATING_ACC_CYCLES;
 }
@@ -296,9 +296,9 @@ static bool calibratedAxis[6];
 static int32_t accSamples[6][3];
 static int  calibratedAxisCount = 0;
 
-bool getAccelerometerCalibrationAxisStatus(int axis)
+bool accGetCalibrationAxisStatus(int axis)
 {
-    if (isAccelerationCalibrationComplete()) {
+    if (accIsCalibrationComplete()) {
         if (STATE(ACCELEROMETER_CALIBRATED)) {
             return true;    // if calibration is valid - all axis are calibrated
         }
@@ -311,11 +311,11 @@ bool getAccelerometerCalibrationAxisStatus(int axis)
     }
 }
 
-uint8_t getAccelerometerCalibrationAxisFlags(void)
+uint8_t accGetCalibrationAxisFlags(void)
 {
     uint8_t flags = 0;
     for (int i = 0; i < 6; i++) {
-        if (getAccelerometerCalibrationAxisStatus(0)) {
+        if (accGetCalibrationAxisStatus(0)) {
             flags |= (1 << i);
         }
     }
@@ -342,7 +342,7 @@ int getPrimaryAxisIndex(int32_t sample[3])
         return -1;
 }
 
-void performAcclerationCalibration(void)
+static void performAcclerationCalibration(void)
 {
     int axisIndex = getPrimaryAxisIndex(acc.accADC);
 
@@ -420,7 +420,7 @@ static void applyAccelerationZero(const flightDynamicsTrims_t * accZero, const f
     acc.accADC[Z] = (acc.accADC[Z] - accZero->raw[Z]) * accGain->raw[Z] / 4096;
 }
 
-void updateAccelerationReadings(void)
+void accUpdate(void)
 {
     if (!acc.dev.read(&acc.dev)) {
         return;
@@ -436,7 +436,7 @@ void updateAccelerationReadings(void)
         }
     }
 
-    if (!isAccelerationCalibrationComplete()) {
+    if (!accIsCalibrationComplete()) {
         performAcclerationCalibration();
     }
 
@@ -445,7 +445,7 @@ void updateAccelerationReadings(void)
     alignSensors(acc.accADC, acc.dev.accAlign);
 }
 
-void setAccelerationCalibrationValues(void)
+void accSetCalibrationValues(void)
 {
     if ((accelerometerConfig()->accZero.raw[X] == 0) && (accelerometerConfig()->accZero.raw[Y] == 0) && (accelerometerConfig()->accZero.raw[Z] == 0) &&
         (accelerometerConfig()->accGain.raw[X] == 4096) && (accelerometerConfig()->accGain.raw[Y] == 4096) &&(accelerometerConfig()->accGain.raw[Z] == 4096)) {
@@ -456,7 +456,7 @@ void setAccelerationCalibrationValues(void)
     }
 }
 
-void setAccelerationFilter(void)
+void accInitFilters(void)
 {
     if (acc.accTargetLooptime && accelerometerConfig()->acc_lpf_hz) {
         for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
@@ -465,7 +465,7 @@ void setAccelerationFilter(void)
     }
 }
 
-bool isAccelerometerHealthy(void)
+bool accIsHealthy(void)
 {
     return true;
 }

src/main/sensors/acceleration.h

@@ -56,11 +56,11 @@ typedef struct accelerometerConfig_s {
 PG_DECLARE(accelerometerConfig_t, accelerometerConfig);
 
 bool accInit(uint32_t accTargetLooptime);
-bool isAccelerationCalibrationComplete(void);
+bool accIsCalibrationComplete(void);
 void accSetCalibrationCycles(uint16_t calibrationCyclesRequired);
-void updateAccelerationReadings(void);
+void accUpdate(void);
-void setAccelerationCalibrationValues(void);
+void accSetCalibrationValues(void);
-void setAccelerationFilter(void);
+void accInitFilters(void);
-bool isAccelerometerHealthy(void);
+bool accIsHealthy(void);
-bool getAccelerometerCalibrationAxisStatus(int axis);
+bool accGetCalibrationAxisStatus(int axis);
-uint8_t getAccelerometerCalibrationAxisFlags(void);
+uint8_t accGetCalibrationAxisFlags(void);

src/main/sensors/barometer.c

@@ -166,7 +166,7 @@ bool baroInit(void)
     return true;
 }
 
-bool isBaroCalibrationComplete(void)
+bool baroIsCalibrationComplete(void)
 {
     return calibratingB == 0;
 }
@@ -207,7 +207,7 @@ typedef enum {
     BAROMETER_NEEDS_CALCULATION
 } barometerState_e;
 
-bool isBaroReady(void)
+bool baroIsReady(void)
 {
     return baroReady;
 }
@@ -249,7 +249,7 @@ static void performBaroCalibrationCycle(void)
 
 int32_t baroCalculateAltitude(void)
 {
-    if (!isBaroCalibrationComplete()) {
+    if (!baroIsCalibrationComplete()) {
         performBaroCalibrationCycle();
         baro.BaroAlt = 0;
     }
@@ -269,7 +269,7 @@ int32_t baroCalculateAltitude(void)
     return baro.BaroAlt;
 }
 
-bool isBarometerHealthy(void)
+bool baroIsHealthy(void)
 {
     return true;
 }

src/main/sensors/barometer.h

@@ -47,9 +47,9 @@ typedef struct baro_s {
 extern baro_t baro;
 
 bool baroInit(void);
-bool isBaroCalibrationComplete(void);
+bool baroIsCalibrationComplete(void);
 void baroSetCalibrationCycles(uint16_t calibrationCyclesRequired);
 uint32_t baroUpdate(void);
-bool isBaroReady(void);
+bool baroIsReady(void);
 int32_t baroCalculateAltitude(void);
-bool isBarometerHealthy(void);
+bool baroIsHealthy(void);

src/main/sensors/battery.c

@@ -96,7 +96,7 @@ static void updateBatteryVoltage(uint32_t vbatTimeDelta)
 /* Batt Hysteresis of +/-100mV */
 #define VBATT_HYSTERESIS 1
 
-void updateBattery(uint32_t vbatTimeDelta)
+void batteryUpdate(uint32_t vbatTimeDelta)
 {
     updateBatteryVoltage(vbatTimeDelta);
 
@@ -166,13 +166,6 @@ batteryState_e getBatteryState(void)
     return batteryState;
 }
 
-const char * const batteryStateStrings[] = {"OK", "WARNING", "CRITICAL", "NOT PRESENT"};
-
-const char * getBatteryStateString(void)
-{
-    return batteryStateStrings[batteryState];
-}
-
 void batteryInit(void)
 {
     batteryState = BATTERY_NOT_PRESENT;
@@ -192,7 +185,7 @@ int32_t currentSensorToCentiamps(uint16_t src)
     return (millivolts * 1000) / (int32_t)batteryConfig()->currentMeterScale; // current in 0.01A steps
 }
 
-void updateCurrentMeter(int32_t lastUpdateAt, uint16_t deadband3d_throttle)
+void currentMeterUpdate(int32_t lastUpdateAt, uint16_t deadband3d_throttle)
 {
     static int32_t amperageRaw = 0;
     static int64_t mAhdrawnRaw = 0;

src/main/sensors/battery.h

@@ -71,11 +71,10 @@ extern int32_t mAhDrawn;
 
 uint16_t batteryAdcToVoltage(uint16_t src);
 batteryState_e getBatteryState(void);
-const  char * getBatteryStateString(void);
+void batteryUpdate(uint32_t vbatTimeDelta);
-void updateBattery(uint32_t vbatTimeDelta);
 void batteryInit(void);
 
-void updateCurrentMeter(int32_t lastUpdateAt, uint16_t deadband3d_throttle);
+void currentMeterUpdate(int32_t lastUpdateAt, uint16_t deadband3d_throttle);
 int32_t currentMeterToCentiamps(uint16_t src);
 
 uint8_t calculateBatteryPercentage(void);

src/main/sensors/diagnostics.c

@@ -37,7 +37,7 @@ hardwareSensorStatus_e getHwAccelerometerStatus(void)
 {
 #if defined(ACC)
     if (detectedSensors[SENSOR_INDEX_ACC] != ACC_NONE) {
-        if (isAccelerometerHealthy()) {
+        if (accIsHealthy()) {
             return HW_SENSOR_OK;
         }
         else {
@@ -89,7 +89,7 @@ hardwareSensorStatus_e getHwBarometerStatus(void)
 {
 #if defined(BARO)
     if (detectedSensors[SENSOR_INDEX_BARO] != BARO_NONE) {
-        if (isBarometerHealthy()) {
+        if (baroIsHealthy()) {
             return HW_SENSOR_OK;
         }
         else {
@@ -115,7 +115,7 @@ hardwareSensorStatus_e getHwRangefinderStatus(void)
 {
 #if defined(SONAR)
     if (detectedSensors[SENSOR_INDEX_RANGEFINDER] != RANGEFINDER_NONE) {
-        if (isRangefinderHealthy()) {
+        if (rangefinderIsHealthy()) {
             return HW_SENSOR_OK;
         }
         else {
@@ -141,7 +141,7 @@ hardwareSensorStatus_e getHwPitotmeterStatus(void)
 {
 #if defined(PITOT)
     if (detectedSensors[SENSOR_INDEX_PITOT] != PITOT_NONE) {
-        if (isPitotmeterHealthy()) {
+        if (pitotIsHealthy()) {
             return HW_SENSOR_OK;
         }
         else {

src/main/sensors/pitotmeter.c

@@ -118,7 +118,7 @@ bool pitotInit(void)
     return true;
 }
 
-bool isPitotCalibrationComplete(void)
+bool pitotIsCalibrationComplete(void)
 {
     return calibratingP == 0;
 }
@@ -160,7 +160,7 @@ typedef enum {
 } pitotmeterState_e;
 
 
-bool isPitotReady(void) {
+bool pitotIsReady(void) {
     return pitotReady;
 }
 
@@ -202,10 +202,7 @@ static void performPitotCalibrationCycle(void)
 
 int32_t pitotCalculateAirSpeed(void)
 {
-    if (!isPitotCalibrationComplete()) {
+    if (pitotIsCalibrationComplete()) {
-        performPitotCalibrationCycle();
-        pitot.airSpeed = 0;
-    } else {
         const float CalibratedAirspeed_tmp = pitotmeterConfig()->pitot_scale * CASFACTOR * sqrtf(powf(fabsf(pitotPressure - pitotPressureZero) / P0 + 1.0f, CCEXPONENT) - 1.0f);
         CalibratedAirspeed = CalibratedAirspeed * pitotmeterConfig()->pitot_noise_lpf + CalibratedAirspeed_tmp * (1.0f - pitotmeterConfig()->pitot_noise_lpf); // additional LPF to reduce baro noise
         float TrueAirspeed = CalibratedAirspeed * TASFACTOR * sqrtf(pitotTemperature);
@@ -215,11 +212,14 @@ int32_t pitotCalculateAirSpeed(void)
         //debug[1] = (int16_t)(TrueAirspeed*100);
         //debug[2] = (int16_t)((pitotTemperature-273.15f)*100);
         //debug[3] = AirSpeed;
+    } else {
+        performPitotCalibrationCycle();
+        pitot.airSpeed = 0;
     }
     return pitot.airSpeed;
 }
 
-bool isPitotmeterHealthy(void)
+bool pitotIsHealthy(void)
 {
     return true;
 }

src/main/sensors/pitotmeter.h

@@ -48,9 +48,9 @@ typedef struct pito_s {
 extern pitot_t pitot;
 
 bool pitotInit(void);
-bool isPitotCalibrationComplete(void);
+bool pitotIsCalibrationComplete(void);
 void pitotSetCalibrationCycles(uint16_t calibrationCyclesRequired);
 uint32_t pitotUpdate(void);
-bool isPitotReady(void);
+bool pitotIsReady(void);
 int32_t pitotCalculateAirSpeed(void);
-bool isPitotmeterHealthy(void);
+bool pitotIsHealthy(void);

src/main/sensors/rangefinder.c

@@ -243,7 +243,7 @@ int32_t rangefinderGetLatestAltitude(void)
     return calculatedAltitude;
 }
 
-bool isRangefinderHealthy(void)
+bool rangefinderIsHealthy(void)
 {
     return true;
 }