rename ins get_primary_accel to get_default_accel

libraries/AP_AHRS/AP_AHRS.cpp

@@ -591,8 +591,8 @@ void AP_AHRS::update_EKF2(void)
             // Use the primary EKF to select the primary gyro
             const AP_InertialSensor &_ins = AP::ins();
             const int8_t primary_imu = EKF2.getPrimaryCoreIMUIndex();
-            const uint8_t primary_gyro = primary_imu>=0?primary_imu:_ins.get_primary_gyro();
-            const uint8_t primary_accel = primary_imu>=0?primary_imu:_ins.get_primary_accel();
+            const uint8_t primary_gyro = primary_imu>=0?primary_imu:_ins.get_default_gyro();
+            const uint8_t primary_accel = primary_imu>=0?primary_imu:_ins.get_default_accel();
 
             // get gyro bias for primary EKF and change sign to give gyro drift
             // Note sign convention used by EKF is bias = measurement - truth
@@ -660,8 +660,8 @@ void AP_AHRS::update_EKF3(void)
 
             // Use the primary EKF to select the primary gyro
             const int8_t primary_imu = EKF3.getPrimaryCoreIMUIndex();
-            const uint8_t primary_gyro = primary_imu>=0?primary_imu:_ins.get_primary_gyro();
-            const uint8_t primary_accel = primary_imu>=0?primary_imu:_ins.get_primary_accel();
+            const uint8_t primary_gyro = primary_imu>=0?primary_imu:_ins.get_default_gyro();
+            const uint8_t primary_accel = primary_imu>=0?primary_imu:_ins.get_default_accel();
 
             // get gyro bias for primary EKF and change sign to give gyro drift
             // Note sign convention used by EKF is bias = measurement - truth
@@ -3215,7 +3215,7 @@ uint8_t AP_AHRS::_get_primary_IMU_index() const
 #endif
     }
     if (imu == -1) {
-        imu = AP::ins().get_primary_gyro();
+        imu = AP::ins().get_default_gyro();
     }
     return imu;
 }

libraries/AP_AHRS/AP_AHRS_Backend.h

@@ -77,7 +77,7 @@ class AP_AHRS_Backend
     // get the index of the current primary accelerometer sensor
     virtual uint8_t get_primary_accel_index(void) const {
 #if AP_INERTIALSENSOR_ENABLED
-        return AP::ins().get_primary_accel();
+        return AP::ins().get_default_accel();
 #else
         return 0;
 #endif
@@ -86,7 +86,7 @@ class AP_AHRS_Backend
     // get the index of the current primary gyro sensor
     virtual uint8_t get_primary_gyro_index(void) const {
 #if AP_INERTIALSENSOR_ENABLED
-        return AP::ins().get_primary_gyro();
+        return AP::ins().get_default_gyro();
 #else
         return 0;
 #endif

libraries/AP_DAL/AP_DAL_InertialSensor.cpp

@@ -18,9 +18,9 @@ void AP_DAL_InertialSensor::start_frame()
     const log_RISH old_RISH = _RISH;
 
     _RISH.loop_rate_hz = ins.get_loop_rate_hz();
-    _RISH.primary_gyro = ins.get_primary_gyro();
+    _RISH.default_gyro = ins.get_default_gyro();
     _RISH.loop_delta_t = ins.get_loop_delta_t();
-    _RISH.primary_accel = ins.get_primary_accel();
+    _RISH.default_accel = ins.get_default_accel();
     _RISH.accel_count = ins.get_accel_count();
     _RISH.gyro_count = ins.get_gyro_count();
     WRITE_REPLAY_BLOCK_IFCHANGED(RISH, _RISH, old_RISH);

libraries/AP_DAL/AP_DAL_InertialSensor.h

@@ -18,7 +18,7 @@ class AP_DAL_InertialSensor {
 
     // accel stuff
     uint8_t get_accel_count(void) const { return _RISH.accel_count; }
-    uint8_t get_primary_accel(void) const { return _RISH.primary_accel; };
+    uint8_t get_default_accel(void) const { return _RISH.default_accel; };
 
     bool use_accel(uint8_t instance) const { return _RISI[instance].use_accel; }
     const Vector3f     &get_accel(uint8_t i) const { return accel_filtered[i]; }
@@ -30,7 +30,7 @@ class AP_DAL_InertialSensor {
 
     // gyro stuff
     uint8_t get_gyro_count(void) const { return _RISH.gyro_count; }
-    uint8_t get_primary_gyro(void) const { return _RISH.primary_gyro; };
+    uint8_t get_default_gyro(void) const { return _RISH.default_gyro; };
 
     bool use_gyro(uint8_t instance) const { return _RISI[instance].use_gyro; }
     const Vector3f     &get_gyro(uint8_t i) const { return gyro_filtered[i]; }

libraries/AP_DAL/LogStructure.h

@@ -76,8 +76,8 @@ struct log_RFRN {
 // Replay Data Structure - Inertial Sensor header
 struct log_RISH {
     uint16_t loop_rate_hz;
-    uint8_t primary_gyro;
-    uint8_t primary_accel;
+    uint8_t default_gyro;
+    uint8_t default_accel;
     float loop_delta_t;
     uint8_t accel_count;
     uint8_t gyro_count;

libraries/AP_InertialSensor/AP_InertialSensor.cpp

@@ -1933,13 +1933,13 @@ void AP_InertialSensor::update(void)
         // set primary to first healthy accel and gyro
         for (uint8_t i=0; i<INS_MAX_INSTANCES; i++) {
             if (_gyro_healthy[i] && _use(i)) {
-                _primary_gyro = i;
+                _default_gyro = i;
                 break;
             }
         }
         for (uint8_t i=0; i<INS_MAX_INSTANCES; i++) {
             if (_accel_healthy[i] && _use(i)) {
-                _primary_accel = i;
+                _default_accel = i;
                 break;
             }
         }
@@ -2209,7 +2209,7 @@ void AP_InertialSensor::calc_vibration_and_clipping(uint8_t instance, const Vect
 // peak hold detector for slower mechanisms to detect spikes
 void AP_InertialSensor::set_accel_peak_hold(uint8_t instance, const Vector3f &accel)
 {
-    if (instance != _primary_accel) {
+    if (instance != _default_accel) {
         // we only record for primary accel
         return;
     }
@@ -2390,15 +2390,15 @@ void AP_InertialSensor::_acal_save_calibrations()
         case 1:
             // The first level step of accel cal will be taken as gnd truth,
             // i.e. trim will be set as per the output of primary accel from the level step
-            get_primary_accel_cal_sample_avg(0,aligned_sample);
+            get_default_accel_cal_sample_avg(0,aligned_sample);
             _trim_rad.zero();
             _calculate_trim(aligned_sample, _trim_rad);
             _new_trim = true;
             break;
         case 2:
             // Reference accel is truth, in this scenario there is a reference accel
             // as mentioned in ACC_BODY_ALIGNED
-            if (get_primary_accel_cal_sample_avg(0,misaligned_sample) && get_fixed_mount_accel_cal_sample(0,aligned_sample)) {
+            if (get_default_accel_cal_sample_avg(0,misaligned_sample) && get_fixed_mount_accel_cal_sample(0,aligned_sample)) {
                 // determine trim from aligned sample vs misaligned sample
                 Vector3f cross = (misaligned_sample%aligned_sample);
                 float dot = (misaligned_sample*aligned_sample);
@@ -2462,7 +2462,7 @@ bool AP_InertialSensor::get_fixed_mount_accel_cal_sample(uint8_t sample_num, Vec
 /*
     Returns Primary accelerometer level data averaged during accel calibration's first step
 */
-bool AP_InertialSensor::get_primary_accel_cal_sample_avg(uint8_t sample_num, Vector3f& ret) const
+bool AP_InertialSensor::get_default_accel_cal_sample_avg(uint8_t sample_num, Vector3f& ret) const
 {
     uint8_t count = 0;
     Vector3f avg = Vector3f(0,0,0);
@@ -2749,8 +2749,8 @@ void AP_InertialSensor::send_uart_data(void)
     data.length = sizeof(data);
     data.timestamp_us = AP_HAL::micros();
 
-    get_delta_angle(get_primary_gyro(), data.delta_angle, data.delta_angle_dt);
-    get_delta_velocity(get_primary_accel(), data.delta_velocity, data.delta_velocity_dt);
+    get_delta_angle(get_default_gyro(), data.delta_angle, data.delta_angle_dt);
+    get_delta_velocity(get_default_accel(), data.delta_velocity, data.delta_velocity_dt);
 
     data.counter = uart.counter++;
     data.crc = crc_xmodem((const uint8_t *)&data, sizeof(data)-sizeof(uint16_t));

libraries/AP_InertialSensor/AP_InertialSensor.h

@@ -108,34 +108,34 @@ class AP_InertialSensor : AP_AccelCal_Client
     /// @returns	vector of rotational rates in radians/sec
     ///
     const Vector3f     &get_gyro(uint8_t i) const { return _gyro[i]; }
-    const Vector3f     &get_gyro(void) const { return get_gyro(_primary_gyro); }
+    const Vector3f     &get_gyro(void) const { return get_gyro(_default_gyro); }
 
     // set gyro offsets in radians/sec
     const Vector3f &get_gyro_offsets(uint8_t i) const { return _gyro_offset(i); }
-    const Vector3f &get_gyro_offsets(void) const { return get_gyro_offsets(_primary_gyro); }
+    const Vector3f &get_gyro_offsets(void) const { return get_gyro_offsets(_default_gyro); }
 
     //get delta angle if available
     bool get_delta_angle(uint8_t i, Vector3f &delta_angle, float &delta_angle_dt) const;
     bool get_delta_angle(Vector3f &delta_angle, float &delta_angle_dt) const {
-        return get_delta_angle(_primary_gyro, delta_angle, delta_angle_dt);
+        return get_delta_angle(_default_gyro, delta_angle, delta_angle_dt);
     }
 
     //get delta velocity if available
     bool get_delta_velocity(uint8_t i, Vector3f &delta_velocity, float &delta_velocity_dt) const;
     bool get_delta_velocity(Vector3f &delta_velocity, float &delta_velocity_dt) const {
-        return get_delta_velocity(_primary_accel, delta_velocity, delta_velocity_dt);
+        return get_delta_velocity(_default_accel, delta_velocity, delta_velocity_dt);
     }
 
     /// Fetch the current accelerometer values
     ///
     /// @returns	vector of current accelerations in m/s/s
     ///
     const Vector3f     &get_accel(uint8_t i) const { return _accel[i]; }
-    const Vector3f     &get_accel(void) const { return get_accel(_primary_accel); }
+    const Vector3f     &get_accel(void) const { return get_accel(_default_accel); }
 
     // multi-device interface
     bool get_gyro_health(uint8_t instance) const { return (instance<_gyro_count) ? _gyro_healthy[instance] : false; }
-    bool get_gyro_health(void) const { return get_gyro_health(_primary_gyro); }
+    bool get_gyro_health(void) const { return get_gyro_health(_default_gyro); }
     bool get_gyro_health_all(void) const;
     bool gyros_consistent(uint8_t threshold) const;
     uint8_t get_gyro_count(void) const { return MIN(INS_MAX_INSTANCES, _gyro_count); }
@@ -145,7 +145,7 @@ class AP_InertialSensor : AP_AccelCal_Client
     Gyro_Calibration_Timing gyro_calibration_timing();
 
     bool get_accel_health(uint8_t instance) const { return (instance<_accel_count) ? _accel_healthy[instance] : false; }
-    bool get_accel_health(void) const { return get_accel_health(_primary_accel); }
+    bool get_accel_health(void) const { return get_accel_health(_default_accel); }
     bool get_accel_health_all(void) const;
     bool accels_consistent(float accel_error_threshold) const;
     uint8_t get_accel_count(void) const { return MIN(INS_MAX_INSTANCES, _accel_count); }
@@ -158,30 +158,30 @@ class AP_InertialSensor : AP_AccelCal_Client
 
     // FFT support access
 #if HAL_GYROFFT_ENABLED
-    const Vector3f& get_gyro_for_fft(void) const { return _gyro_for_fft[_primary_gyro]; }
+    const Vector3f& get_gyro_for_fft(void) const { return _gyro_for_fft[_default_gyro]; }
     FloatBuffer&  get_raw_gyro_window(uint8_t instance, uint8_t axis) { return _gyro_window[instance][axis]; }
-    FloatBuffer&  get_raw_gyro_window(uint8_t axis) { return get_raw_gyro_window(_primary_gyro, axis); }
-    uint16_t get_raw_gyro_rate_hz() const { return get_raw_gyro_rate_hz(_primary_gyro); }
-    uint16_t get_raw_gyro_rate_hz(uint8_t instance) const { return _gyro_raw_sample_rates[_primary_gyro]; }
+    FloatBuffer&  get_raw_gyro_window(uint8_t axis) { return get_raw_gyro_window(_default_gyro, axis); }
+    uint16_t get_raw_gyro_rate_hz() const { return get_raw_gyro_rate_hz(_default_gyro); }
+    uint16_t get_raw_gyro_rate_hz(uint8_t instance) const { return _gyro_raw_sample_rates[_default_gyro]; }
 #if AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED
     bool has_fft_notch() const;
 #endif
 #endif
     bool set_gyro_window_size(uint16_t size);
     // get accel offsets in m/s/s
     const Vector3f &get_accel_offsets(uint8_t i) const { return _accel_offset(i); }
-    const Vector3f &get_accel_offsets(void) const { return get_accel_offsets(_primary_accel); }
+    const Vector3f &get_accel_offsets(void) const { return get_accel_offsets(_default_accel); }
 
     // get accel scale
     const Vector3f &get_accel_scale(uint8_t i) const { return _accel_scale(i); }
-    const Vector3f &get_accel_scale(void) const { return get_accel_scale(_primary_accel); }
+    const Vector3f &get_accel_scale(void) const { return get_accel_scale(_default_accel); }
 
     // return a 3D vector defining the position offset of the IMU accelerometer in metres relative to the body frame origin
     const Vector3f &get_imu_pos_offset(uint8_t instance) const {
         return _accel_pos(instance);
     }
     const Vector3f &get_imu_pos_offset(void) const {
-        return _accel_pos(_primary_accel);
+        return _accel_pos(_default_accel);
     }
 
     // return the temperature if supported. Zero is returned if no
@@ -222,8 +222,8 @@ class AP_InertialSensor : AP_AccelCal_Client
 
     bool healthy(void) const { return get_gyro_health() && get_accel_health(); }
 
-    uint8_t get_primary_accel(void) const { return _primary_accel; }
-    uint8_t get_primary_gyro(void) const { return _primary_gyro; }
+    uint8_t get_default_accel(void) const { return _default_accel; }
+    uint8_t get_default_gyro(void) const { return _default_gyro; }
 
     // get the gyro filter rate in Hz
     uint16_t get_gyro_filter_hz(void) const { return _gyro_filter_cutoff; }
@@ -250,7 +250,7 @@ class AP_InertialSensor : AP_AccelCal_Client
     void calc_vibration_and_clipping(uint8_t instance, const Vector3f &accel, float dt);
 
     // retrieve latest calculated vibration levels
-    Vector3f get_vibration_levels() const { return get_vibration_levels(_primary_accel); }
+    Vector3f get_vibration_levels() const { return get_vibration_levels(_default_accel); }
     Vector3f get_vibration_levels(uint8_t instance) const;
 
     // retrieve and clear accelerometer clipping count
@@ -275,7 +275,7 @@ class AP_InertialSensor : AP_AccelCal_Client
     bool get_fixed_mount_accel_cal_sample(uint8_t sample_num, Vector3f& ret) const;
 
     // Returns primary accelerometer level data averaged during accel calibration's first step
-    bool get_primary_accel_cal_sample_avg(uint8_t sample_num, Vector3f& ret) const;
+    bool get_default_accel_cal_sample_avg(uint8_t sample_num, Vector3f& ret) const;
 
     // Returns newly calculated trim values if calculated
     bool get_new_trim(Vector3f &trim_rad);
@@ -657,8 +657,8 @@ class AP_InertialSensor : AP_AccelCal_Client
     bool _accel_id_ok[INS_MAX_INSTANCES];
 
     // primary accel and gyro
-    uint8_t _primary_gyro;
-    uint8_t _primary_accel;
+    uint8_t _default_gyro;
+    uint8_t _default_accel;
 
     // mask of accels and gyros which we will be actively using
     // and this should wait for in wait_for_sample()

libraries/AP_Mount/SoloGimbal.cpp

@@ -245,7 +245,7 @@ void SoloGimbal::update_fast() {
         // single gyro mode - one of the first two gyros are unhealthy or don't exist
         // just read primary gyro
         Vector3f dAng;
-        readVehicleDeltaAngle(ins.get_primary_gyro(), dAng);
+        readVehicleDeltaAngle(ins.get_default_gyro(), dAng);
         _vehicle_delta_angles += dAng;
     }
 }

libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp

@@ -335,13 +335,13 @@ void NavEKF2_core::readIMUData()
     if (ins.use_accel(imu_index)) {
         accel_active = imu_index;
     } else {
-        accel_active = ins.get_primary_accel();
+        accel_active = ins.get_default_accel();
     }
 
     if (ins.use_gyro(imu_index)) {
         gyro_active = imu_index;
     } else {
-        gyro_active = ins.get_primary_gyro();
+        gyro_active = ins.get_default_gyro();
     }
 
     if (gyro_active != gyro_index_active) {

libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp

@@ -387,13 +387,13 @@ void NavEKF3_core::readIMUData()
     if (ins.use_accel(imu_index)) {
         accel_active = imu_index;
     } else {
-        accel_active = ins.get_primary_accel();
+        accel_active = ins.get_default_accel();
     }
 
     if (ins.use_gyro(imu_index)) {
         gyro_active = imu_index;
     } else {
-        gyro_active = ins.get_primary_gyro();
+        gyro_active = ins.get_default_gyro();
     }
 
     if (gyro_active != gyro_index_active) {

libraries/GCS_MAVLink/GCS_Common.cpp

@@ -2172,7 +2172,7 @@ void GCS_MAVLINK::send_highres_imu()
         .temperature = 0.0,  
         .fields_updated = (HIGHRES_IMU_UPDATED_XACC | HIGHRES_IMU_UPDATED_YACC | HIGHRES_IMU_UPDATED_ZACC |
             HIGHRES_IMU_UPDATED_XGYRO | HIGHRES_IMU_UPDATED_YGYRO | HIGHRES_IMU_UPDATED_ZGYRO), 
-        .id = ins.get_primary_accel(),
+        .id = ins.get_default_accel(),
     };