fly316/PX4-Autopilot
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added routine for autopilot level calibration

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Roman Bapst
2015-05-19 14:20:00 +02:00
parent 5c63a2d2f4
commit 12c6dc8ad8
3 changed files with 80 additions and 1 deletions
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src/modules/commander/commander.cpp
+6 -1
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@@ -317,6 +317,8 @@ int commander_main(int argc, char *argv[])
calib_ret = do_accel_calibration(mavlink_fd);
} else if (!strcmp(argv[2], "gyro")) {
calib_ret = do_gyro_calibration(mavlink_fd);
} else if (!strcmp(argv[2], "level")) {
calib_ret = do_level_calibration(mavlink_fd);
} else {
warnx("argument %s unsupported.", argv[2]);
}
@@ -2720,7 +2722,10 @@ void *commander_low_prio_loop(void *arg)
/* accelerometer calibration */
answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
calib_ret = do_accel_calibration(mavlink_fd);
} else if ((int)(cmd.param5) == 2) {
// board offset calibration
answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
calib_ret = do_level_calibration(mavlink_fd);
} else if ((int)(cmd.param6) == 1) {
/* airspeed calibration */
answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);