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commander: Fix error checking and handling of level routine

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Lorenz Meier
2015-05-21 22:06:54 +02:00
parent afa8266255
commit 323759bb52
1 changed files with 4 additions and 1 deletions
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src/modules/commander/accelerometer_calibration.cpp
+4 -1
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@@ -557,7 +557,7 @@ calibrate_return calculate_calibration_values(unsigned sensor, float (&accel_ref
int do_level_calibration(int mavlink_fd) { int do_level_calibration(int mavlink_fd) {
const unsigned cal_time = 5; const unsigned cal_time = 5;
const unsigned cal_hz = 250; const unsigned cal_hz = 100;
const unsigned settle_time = 30; const unsigned settle_time = 30;
int att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
struct vehicle_attitude_s att; struct vehicle_attitude_s att;
@@ -612,6 +612,8 @@ int do_level_calibration(int mavlink_fd) {
pitch_mean /= counter; pitch_mean /= counter;
} else { } else {
mavlink_and_console_log_info(mavlink_fd, "not enough measurements taken"); mavlink_and_console_log_info(mavlink_fd, "not enough measurements taken");
success = false;
goto out;
} }
if (fabsf(roll_mean) > 0.8f ) { if (fabsf(roll_mean) > 0.8f ) {
@@ -626,6 +628,7 @@ int do_level_calibration(int mavlink_fd) {
success = true; success = true;
} }
out:
if (success) { if (success) {
mavlink_and_console_log_info(mavlink_fd, CAL_QGC_DONE_MSG, "level"); mavlink_and_console_log_info(mavlink_fd, CAL_QGC_DONE_MSG, "level");
return 0; return 0;