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Merge branch 'master' of github.com:PX4/Firmware into fmuv2_bringup

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Lorenz Meier
2013-08-20 16:26:15 +02:00
parent 230c09e2f4 b7cc1c880f
commit 2a58929ffd
6 changed files with 487 additions and 8 deletions
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src/systemcmds/config/config.c
+73 -2
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@@ -129,7 +129,23 @@ do_gyro(int argc, char *argv[])
ioctl(fd, GYROIOCSRANGE, i);
}
} else if (!(argc > 0 && !strcmp(argv[0], "info"))) {
} else if (argc > 0) {
if(!strcmp(argv[0], "check")) {
int ret = ioctl(fd, GYROIOCSELFTEST, 0);
if (ret) {
warnx("gyro self test FAILED! Check calibration:");
struct gyro_scale scale;
ret = ioctl(fd, GYROIOCGSCALE, (long unsigned int)&scale);
warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_offset, scale.y_offset, scale.z_offset);
warnx("scale: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_scale, scale.y_scale, scale.z_scale);
} else {
warnx("gyro calibration and self test OK");
}
}
} else {
warnx("no arguments given. Try: \n\n\t'sampling 500' to set sampling to 500 Hz\n\t'rate 500' to set publication rate to 500 Hz\n\t'range 2000' to set measurement range to 2000 dps\n\t");
}
@@ -148,6 +164,45 @@ do_gyro(int argc, char *argv[])
static void
do_mag(int argc, char *argv[])
{
int fd;
fd = open(MAG_DEVICE_PATH, 0);
if (fd < 0) {
warn("%s", MAG_DEVICE_PATH);
errx(1, "FATAL: no magnetometer found");
} else {
if (argc > 0) {
if (!strcmp(argv[0], "check")) {
int ret = ioctl(fd, MAGIOCSELFTEST, 0);
if (ret) {
warnx("mag self test FAILED! Check calibration.");
struct mag_scale scale;
ret = ioctl(fd, MAGIOCGSCALE, (long unsigned int)&scale);
warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_offset, scale.y_offset, scale.z_offset);
warnx("scale: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_scale, scale.y_scale, scale.z_scale);
} else {
warnx("mag calibration and self test OK");
}
}
} else {
warnx("no arguments given. Try: \n\n\t'check' or 'info'\n\t");
}
int srate = -1;//ioctl(fd, MAGIOCGSAMPLERATE, 0);
int prate = ioctl(fd, SENSORIOCGPOLLRATE, 0);
int range = -1;//ioctl(fd, MAGIOCGRANGE, 0);
warnx("mag: \n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d gauss", srate, prate, range);
close(fd);
}
exit(0);
}
@@ -183,7 +238,23 @@ do_accel(int argc, char *argv[])
/* set the range to i dps */
ioctl(fd, ACCELIOCSRANGE, i);
}
} else if (!(argc > 0 && !strcmp(argv[0], "info"))) {
} else if (argc > 0) {
if (!strcmp(argv[0], "check")) {
int ret = ioctl(fd, ACCELIOCSELFTEST, 0);
if (ret) {
warnx("accel self test FAILED! Check calibration.");
struct accel_scale scale;
ret = ioctl(fd, ACCELIOCGSCALE, (long unsigned int)&scale);
warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_offset, scale.y_offset, scale.z_offset);
warnx("scale: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_scale, scale.y_scale, scale.z_scale);
} else {
warnx("accel calibration and self test OK");
}
}
} else {
warnx("no arguments given. Try: \n\n\t'sampling 500' to set sampling to 500 Hz\n\t'rate 500' to set publication rate to 500 Hz\n\t'range 2' to set measurement range to 2 G\n\t");
}