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Mag cal: Be more specific which unit failed

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Lorenz Meier
2016-02-26 09:24:18 +01:00
parent 159da5442e
commit 3575984f59
1 changed files with 6 additions and 2 deletions
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src/modules/commander/mag_calibration.cpp
+6 -2
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@@ -76,6 +76,7 @@ static constexpr unsigned int calibraton_duration_seconds = 42; ///< The total
static constexpr float MAG_MAX_OFFSET_LEN = 0.6f; ///< The maximum measurement range is ~1.4 Ga, the earth field is ~0.6 Ga, so an offset larger than ~0.8-0.6 Ga means the mag will saturate in some directions.
int32_t device_ids[max_mags];
bool internal[max_mags];
int device_prio_max = 0;
int32_t device_id_primary = 0;
@@ -151,6 +152,7 @@ int do_mag_calibration(int mavlink_fd)
// Get device id for this mag
device_ids[cur_mag] = px4_ioctl(fd, DEVIOCGDEVICEID, 0);
internal[cur_mag] = (px4_ioctl(fd, MAGIOCGEXTERNAL, 0) <= 0);
// Reset mag scale
result = px4_ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale_null);
@@ -520,6 +522,7 @@ calibrate_return mag_calibrate_all(int mavlink_fd, int32_t (&device_ids)[max_mag
&sphere_radius[cur_mag]);
if (!PX4_ISFINITE(sphere_x[cur_mag]) || !PX4_ISFINITE(sphere_y[cur_mag]) || !PX4_ISFINITE(sphere_z[cur_mag])) {
mavlink_and_console_log_critical(mavlink_fd, "[cal] ERROR: Please retry");
mavlink_and_console_log_emergency(mavlink_fd, "ERROR: Retry calibration (sphere NaN, #%u)", cur_mag);
result = calibrate_return_error;
}
@@ -527,8 +530,9 @@ calibrate_return mag_calibrate_all(int mavlink_fd, int32_t (&device_ids)[max_mag
if (sqrtf(sphere_x[cur_mag] * sphere_x[cur_mag] +
sphere_y[cur_mag] * sphere_y[cur_mag] + sphere_z[cur_mag] * sphere_z[cur_mag])
> MAG_MAX_OFFSET_LEN) {
mavlink_and_console_log_emergency(mavlink_fd, "ERROR: Replace board, fault in mag #%u", cur_mag);
mavlink_and_console_log_emergency(mavlink_fd, "Offsets: %8.4f, %8.4f, %8.4f", (double)sphere_x[cur_mag],
mavlink_and_console_log_critical(mavlink_fd, "[cal] ERROR: Replace %s", (internal[cur_mag]) ? "board" : "GPS unit");
mavlink_and_console_log_emergency(mavlink_fd, "ERROR: Replace %s, fault in mag #%u", (internal[cur_mag]) ? "board" : "GPS unit", cur_mag);
mavlink_and_console_log_emergency(mavlink_fd, "Excessive offsets: %8.4f, %8.4f, %8.4f", (double)sphere_x[cur_mag],
(double)sphere_y[cur_mag], (double)sphere_z[cur_mag]);
result = calibrate_return_error;
}