sensor_correction.msg rename {gyro,accel,baro}_select to match uORB convention

msg/sensor_correction.msg

@@ -17,6 +17,6 @@ float32[3] accel_scale		# accelerometer XYZ scale factors in the sensor frame
 float32 baro_offset		# barometric pressure offsets in the sensor frame in m/s/s
 float32 baro_scale		# barometric pressure scale factors in the sensor frame
 
-uint8 gyro_select		# gyro uORB index for the voted sensor
-uint8 accel_select		# accelerometer uORB index for the voted sensor
-uint8 baro_select		# barometric pressure uORB index for the voted sensor
+uint8 selected_gyro_instance		# gyro uORB topic instance for the voted sensor
+uint8 selected_accel_instance		# accelerometer uORB topic instance for the voted sensor
+uint8 selected_baro_instance		# barometric pressure uORB topic instance for the voted sensor

msg/sensor_mag.msg

@@ -10,4 +10,4 @@ int16 x_raw
 int16 y_raw
 int16 z_raw
 
-uint32 device_id
+uint32 device_id	# unique device ID for the sensor that does not change between power cycles

src/modules/mc_att_control/mc_att_control_main.cpp

@@ -828,8 +828,8 @@ MulticopterAttitudeControl::sensor_correction_poll()
 	}
 
 	/* update the latest gyro selection */
-	if (_sensor_correction.gyro_select <= sizeof(_sensor_gyro_sub) / sizeof(_sensor_gyro_sub[0])) {
-		_selected_gyro = _sensor_correction.gyro_select;
+	if (_sensor_correction.selected_gyro_instance <= sizeof(_sensor_gyro_sub) / sizeof(_sensor_gyro_sub[0])) {
+		_selected_gyro = _sensor_correction.selected_gyro_instance;
 	}
 }
 

src/modules/sensors/voted_sensors_update.cpp

@@ -542,7 +542,7 @@ void VotedSensorsUpdate::accel_poll(struct sensor_combined_s &raw)
 	if (best_index >= 0) {
 		raw.accelerometer_integral_dt = _last_sensor_data[best_index].accelerometer_integral_dt;
 		_accel.last_best_vote = (uint8_t)best_index;
-		_corrections.accel_select = (uint8_t)best_index;
+		_corrections.selected_accel_instance = (uint8_t)best_index;
 
 		for (unsigned axis_index = 0; axis_index < 3; axis_index++) {
 			raw.accelerometer_m_s2[axis_index] = _last_sensor_data[best_index].accelerometer_m_s2[axis_index];
@@ -679,7 +679,7 @@ void VotedSensorsUpdate::gyro_poll(struct sensor_combined_s &raw)
 		raw.gyro_integral_dt = _last_sensor_data[best_index].gyro_integral_dt;
 		raw.timestamp = _last_sensor_data[best_index].timestamp;
 		_gyro.last_best_vote = (uint8_t)best_index;
-		_corrections.gyro_select = (uint8_t)best_index;
+		_corrections.selected_gyro_instance = (uint8_t)best_index;
 
 		for (unsigned axis_index = 0; axis_index < 3; axis_index++) {
 			raw.gyro_rad[axis_index] = _last_sensor_data[best_index].gyro_rad[axis_index];
@@ -803,7 +803,7 @@ void VotedSensorsUpdate::baro_poll(struct sensor_combined_s &raw)
 			raw.baro_temp_celcius = _last_sensor_data[best_index].baro_temp_celcius;
 			_last_best_baro_pressure = _last_baro_pressure[best_index];
 			_baro.last_best_vote = (uint8_t)best_index;
-			_corrections.baro_select = (uint8_t)best_index;
+			_corrections.selected_baro_instance = (uint8_t)best_index;
 			_corrections.baro_offset = _baro_offset[best_index];
 			_corrections.baro_scale = _baro_scale[best_index];