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Commander: Speed up airspeed calibration

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Lorenz Meier
2015-07-20 10:43:12 +02:00
parent d0d46c9713
commit 006dfbb14f
1 changed files with 6 additions and 6 deletions
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src/modules/commander/airspeed_calibration.cpp
+6 -6
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@@ -72,12 +72,12 @@ int do_airspeed_calibration(int mavlink_fd)
{ {
int result = OK; int result = OK;
unsigned calibration_counter = 0; unsigned calibration_counter = 0;
const unsigned maxcount = 3000; const unsigned maxcount = 2400;
/* give directions */ /* give directions */
mavlink_log_info(mavlink_fd, CAL_QGC_STARTED_MSG, sensor_name); mavlink_log_info(mavlink_fd, CAL_QGC_STARTED_MSG, sensor_name);
const unsigned calibration_count = 2000; const unsigned calibration_count = (maxcount * 2) / 3;
int diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure)); int diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure));
struct differential_pressure_s diff_pres; struct differential_pressure_s diff_pres;
@@ -201,10 +201,10 @@ int do_airspeed_calibration(int mavlink_fd)
/* just take a few samples and make sure pitot tubes are not reversed, timeout after ~30 seconds */ /* just take a few samples and make sure pitot tubes are not reversed, timeout after ~30 seconds */
while (calibration_counter < maxcount) { while (calibration_counter < maxcount) {
if (calibrate_cancel_check(mavlink_fd, cancel_sub)) { if (calibrate_cancel_check(mavlink_fd, cancel_sub)) {
goto error_return; goto error_return;
} }
/* wait blocking for new data */ /* wait blocking for new data */
struct pollfd fds[1]; struct pollfd fds[1];
fds[0].fd = diff_pres_sub; fds[0].fd = diff_pres_sub;