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VEHICLE_CMD_PREFLIGHT_CALIBRATION: update temperature_calibration param definition

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This commit is contained in:
Beat Küng
2017-02-17 23:01:25 +01:00
committed by Lorenz Meier
parent 51c8e90508
commit 1a81b64d49
2 changed files with 9 additions and 7 deletions
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src/modules/commander/commander.cpp
+3 -1
View File
@@ -4037,7 +4037,9 @@ void *commander_low_prio_loop(void *arg)
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED, command_ack_pub, command_ack);
calib_ret = do_gyro_calibration(&mavlink_log_pub);
} else if ((int)(cmd.param1) == 3 || (int)(cmd.param5) == 3 || (int)(cmd.param7) == 3) {
} else if ((int)(cmd.param1) == vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION ||
(int)(cmd.param5) == vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION ||
(int)(cmd.param7) == vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION) {
/* temperature calibration: handled in events module */
break;
src/modules/events/send_event.cpp
+6 -6
View File
@@ -124,17 +124,17 @@ void SendEvent::process_commands()
switch (cmd.command) {
case vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION:
if ((int)(cmd.param1) == 3) { //TODO: this (and the others) needs to be specified in mavlink...
if ((int)(cmd.param1) == vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION) {
gyro = true;
got_temperature_calibration_command = true;
}
if ((int)(cmd.param5) == 3) {
if ((int)(cmd.param5) == vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION) {
accel = true;
got_temperature_calibration_command = true;
}
if ((int)(cmd.param7) == 3) {
if ((int)(cmd.param7) == vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION) {
baro = true;
got_temperature_calibration_command = true;
}
@@ -275,13 +275,13 @@ int send_event_main(int argc, char *argv[])
cmd.target_component = -1;
cmd.command = vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION;
cmd.param1 = (gyro_calib || calib_all) ? 2 : NAN;
cmd.param1 = (gyro_calib || calib_all) ? vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION : NAN;
cmd.param2 = NAN;
cmd.param3 = NAN;
cmd.param4 = NAN;
cmd.param5 = (accel_calib || calib_all) ? 2 : NAN;
cmd.param5 = (accel_calib || calib_all) ? vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION : NAN;
cmd.param6 = NAN;
cmd.param7 = (baro_calib || calib_all) ? 2 : NAN;
cmd.param7 = (baro_calib || calib_all) ? vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION : NAN;
orb_advert_t h = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
(void)orb_unadvertise(h);