commander preflight check sensors via uORB instead of IOCTL

- remove all platform defines

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -94,18 +94,14 @@ then
 	param set BAT_N_CELLS 3
 
 	param set CAL_ACC0_ID 1376264
-	param set CAL_ACC0_XOFF 0.01
-	param set CAL_ACC0_XSCALE 1.01
-	param set CAL_ACC0_YOFF -0.01
-	param set CAL_ACC0_YSCALE 1.01
-	param set CAL_ACC0_ZOFF 0.01
-	param set CAL_ACC0_ZSCALE 1.01
 	param set CAL_ACC1_ID 1310728
-	param set CAL_ACC1_XOFF 0.01
+	param set CAL_ACC_PRIME 1376264
+
 	param set CAL_GYRO0_ID 2293768
-	param set CAL_GYRO0_XOFF 0.01
+	param set CAL_GYRO_PRIME 2293768
+
 	param set CAL_MAG0_ID 196616
-	param set CAL_MAG0_XOFF 0.01
+	param set CAL_MAG_PRIME 196616
 
 	param set CBRK_AIRSPD_CHK 0
 

src/modules/simulator/accelsim/accelsim.cpp

@@ -837,6 +837,8 @@ ACCELSIM::_measure()
 
 	accel_report.timestamp = hrt_absolute_time();
 
+	accel_report.device_id = 1310728;
+
 	// use the temperature from the last mag reading
 	accel_report.temperature = _last_temperature;
 
@@ -919,6 +921,7 @@ ACCELSIM::mag_measure()
 
 
 	mag_report.timestamp = hrt_absolute_time();
+	mag_report.device_id = 196616;
 	mag_report.is_external = false;
 
 	mag_report.x_raw = (int16_t)(raw_mag_report.x / _mag_range_scale);

src/modules/simulator/gyrosim/gyrosim.cpp

@@ -968,7 +968,7 @@ GYROSIM::_measure()
 	arb.z_integral = aval_integrated(2);
 
 	/* fake device ID */
-	arb.device_id = 6789478;
+	arb.device_id = 1376264;
 
 	grb.x_raw = (int16_t)(mpu_report.gyro_x / _gyro_range_scale);
 	grb.y_raw = (int16_t)(mpu_report.gyro_y / _gyro_range_scale);
@@ -991,12 +991,11 @@ GYROSIM::_measure()
 	grb.z_integral = gval_integrated(2);
 
 	/* fake device ID */
-	grb.device_id = 3467548;
+	grb.device_id = 2293768;
 
 	_accel_reports->force(&arb);
 	_gyro_reports->force(&grb);
 
-
 	if (accel_notify) {
 		if (!(_pub_blocked)) {
 			/* publish it */

src/modules/uORB/Subscription.hpp

@@ -90,8 +90,10 @@ public:
 
 protected:
 	const struct orb_metadata *_meta;
+
 	unsigned _instance;
-	int _handle;
+
+	int _handle{-1};
 };
 
 /**
@@ -155,7 +157,9 @@ public:
 		     List<SubscriptionNode *> *list = nullptr):
 		SubscriptionNode(meta, interval, instance, list),
 		_data() // initialize data structure to zero
-	{}
+	{
+		forcedUpdate();
+	}
 
 	~Subscription() override = default;