From 3575984f5971c8d2426414e3495b69b7fb83335f Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 26 Feb 2016 09:24:18 +0100 Subject: [PATCH] Mag cal: Be more specific which unit failed --- src/modules/commander/mag_calibration.cpp | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/src/modules/commander/mag_calibration.cpp b/src/modules/commander/mag_calibration.cpp index dbe89a44b3..0ad06cc18d 100644 --- a/src/modules/commander/mag_calibration.cpp +++ b/src/modules/commander/mag_calibration.cpp @@ -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; }