AP_InertialSensor: remove product_id

We only leave the parameter there for backward-compatibility. However
product id on the inertial sensor is not much useful since it's only
kept for the first instance.

A better implementation per-gyro and per-accel is needed in order to
avoid problems with sensors taking the offsets configured for another
sensor.

libraries/AP_InertialSensor/AP_InertialSensor.cpp

@@ -55,10 +55,9 @@ extern const AP_HAL::HAL& hal;
 const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
     // @Param: PRODUCT_ID
     // @DisplayName: IMU Product ID
-    // @Description: Which type of IMU is installed (read-only).
+    // @Description: unused
     // @User: Advanced
-    // @Values: 0:Unknown,1:unused,2:unused,88:unused,3:SITL,4:PX4v1,5:PX4v2,256:unused,257:Linux
-    AP_GROUPINFO("PRODUCT_ID",  0, AP_InertialSensor, _product_id,   0),
+    AP_GROUPINFO("PRODUCT_ID",  0, AP_InertialSensor, _old_product_id,   0),
 
     /*
       The following parameter indexes and reserved from previous use
@@ -656,9 +655,6 @@ AP_InertialSensor::detect_backends(void)
     if (_backend_count == 0) {
         AP_HAL::panic("No INS backends available");
     }
-
-    // set the product ID to the ID of the first backend
-    _product_id.set(_backends[0]->product_id());
 }
 
 /*
@@ -992,7 +988,6 @@ AP_InertialSensor::_init_gyro()
 // save parameters to eeprom
 void AP_InertialSensor::_save_parameters()
 {
-    _product_id.save();
     for (uint8_t i=0; i<INS_MAX_INSTANCES; i++) {
         _accel_scale[i].save();
         _accel_offset[i].save();

libraries/AP_InertialSensor/AP_InertialSensor.h

@@ -319,7 +319,7 @@ private:
     Vector3f _last_raw_gyro[INS_MAX_INSTANCES];
 
     // product id
-    AP_Int16 _product_id;
+    AP_Int16 _old_product_id;
 
     // accelerometer scaling and offsets
     AP_Vector3f _accel_scale[INS_MAX_INSTANCES];

libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp

@@ -7,8 +7,7 @@
 const extern AP_HAL::HAL& hal;
 
 AP_InertialSensor_Backend::AP_InertialSensor_Backend(AP_InertialSensor &imu) :
-    _imu(imu),
-    _product_id(AP_PRODUCT_ID_NONE)
+    _imu(imu)
 {
     _sem = hal.util->new_semaphore();
 }

libraries/AP_InertialSensor/AP_InertialSensor_Backend.h

@@ -64,11 +64,6 @@ public:
      */
     virtual AuxiliaryBus *get_auxiliary_bus() { return nullptr; }
 
-    /*
-      return the product ID
-     */
-    int16_t product_id(void) const { return _product_id; }
-
     int16_t get_id() const { return _id; }
 
 protected:
@@ -121,9 +116,6 @@ protected:
     // set gyro error_count
     void _set_gyro_error_count(uint8_t instance, uint32_t error_count);
 
-    // backend should fill in its product ID from AP_PRODUCT_ID_*
-    int16_t _product_id;
-
     // backend unique identifier or -1 if backend doesn't identify itself
     int16_t _id = -1;
 

libraries/AP_InertialSensor/AP_InertialSensor_HIL.cpp

@@ -30,7 +30,6 @@ bool AP_InertialSensor_HIL::_init_sensor(void)
     _imu.register_gyro(1200);
     _imu.register_accel(1200);
 
-    _product_id = AP_PRODUCT_ID_NONE;
     _imu.set_hil_mode();
 
     return true;

libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp

@@ -390,7 +390,6 @@ AP_InertialSensor_LSM9DS0::AP_InertialSensor_LSM9DS0(AP_InertialSensor &imu,
     , _drdy_pin_num_g(drdy_pin_num_g)
     , _rotation(rotation)
 {
-    _product_id = AP_PRODUCT_ID_NONE;
 }
 
 AP_InertialSensor_Backend *AP_InertialSensor_LSM9DS0::probe(AP_InertialSensor &_imu,

libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp

@@ -350,15 +350,15 @@ void AP_InertialSensor_MPU6000::start()
     hal.scheduler->delay(1);
 
     // read the product ID rev c has 1/2 the sensitivity of rev d
-    _product_id = _register_read(MPUREG_PRODUCT_ID);
+    uint8_t product_id = _register_read(MPUREG_PRODUCT_ID);
     //Serial.printf("Product_ID= 0x%x\n", (unsigned) _mpu6000_product_id);
 
     // TODO: should be changed to 16G once we have a way to override the
     // previous offsets
-    if ((_product_id == MPU6000ES_REV_C4) ||
-        (_product_id == MPU6000ES_REV_C5) ||
-        (_product_id == MPU6000_REV_C4)   ||
-        (_product_id == MPU6000_REV_C5)) {
+    if ((product_id == MPU6000ES_REV_C4) ||
+        (product_id == MPU6000ES_REV_C5) ||
+        (product_id == MPU6000_REV_C4)   ||
+        (product_id == MPU6000_REV_C5)) {
         // Accel scale 8g (4096 LSB/g)
         // Rev C has different scaling than rev D
         _register_write(MPUREG_ACCEL_CONFIG,1<<3);

libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp

@@ -302,8 +302,6 @@ void AP_InertialSensor_MPU9250::start()
     _register_write(MPUREG_GYRO_CONFIG, BITS_GYRO_FS_2000DPS);
     hal.scheduler->delay(1);
 
-    _product_id = AP_PRODUCT_ID_MPU9250;
-
     // RM-MPU-9250A-00.pdf, pg. 15, select accel full scale 16g
     _register_write(MPUREG_ACCEL_CONFIG,3<<3);
 

libraries/AP_InertialSensor/AP_InertialSensor_PX4.cpp

@@ -156,17 +156,6 @@ bool AP_InertialSensor_PX4::_init_sensor(void)
         _accel_sample_time[i] = 1.0f / samplerate;
     }
 
-#if  CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
-    _product_id = AP_PRODUCT_ID_VRBRAIN;
-#else
-#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
-    _product_id = AP_PRODUCT_ID_PX4_V2;
-#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
-    _product_id = AP_PRODUCT_ID_PX4_V4;
-#else
-    _product_id = AP_PRODUCT_ID_PX4;
-#endif
-#endif
     return true;
 }
 

libraries/AP_InertialSensor/AP_InertialSensor_QURT.cpp

@@ -36,8 +36,6 @@ bool AP_InertialSensor_QURT::init_sensor(void)
     mpu9250_mag_buffer = new ObjectBuffer<mpu9x50_data>(20);
     init_mpu9250();
 
-    _product_id = AP_PRODUCT_ID_MPU9250;
-
     return true;
 }
 

libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp

@@ -42,8 +42,6 @@ bool AP_InertialSensor_SITL::init_sensor(void)
 
     hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&AP_InertialSensor_SITL::timer_update, void));
 
-    _product_id = AP_PRODUCT_ID_NONE;
-
     return true;
 }
 

libraries/AP_InertialSensor/AP_InertialSensor_qflight.cpp

@@ -35,7 +35,6 @@ bool AP_InertialSensor_QFLIGHT::init_sensor(void)
     accel_instance = _imu.register_accel(1000);
 
     hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&AP_InertialSensor_QFLIGHT::timer_update, void));
-    _product_id = AP_PRODUCT_ID_MPU9250;
     return true;
 }