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commander: Fix calibration feedback so that QGC picks up all error conditions

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Lorenz Meier
2015-04-26 17:33:45 +02:00
parent a7f88d97b8
commit 362672ece8
5 changed files with 35 additions and 19 deletions
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src/modules/commander/calibration_routines.cpp
+4 -4
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@@ -324,7 +324,7 @@ enum detect_orientation_return detect_orientation(int mavlink_fd, int cancel_sub
/* not still, reset still start time */
if (t_still != 0) {
mavlink_and_console_log_info(mavlink_fd, "[cal] detected motion, hold still...");
sleep(3);
usleep(500000);
t_still = 0;
}
}
@@ -412,7 +412,7 @@ calibrate_return calibrate_from_orientation(int mavlink_fd,
int sub_accel = orb_subscribe_multi(ORB_ID(sensor_accel), 0);
if (sub_accel < 0) {
mavlink_and_console_log_critical(mavlink_fd, "[cal] ERROR: No onboard accel found");
mavlink_and_console_log_critical(mavlink_fd, CAL_QGC_FAILED_MSG, "No onboard accel");
return calibrate_return_error;
}
@@ -427,7 +427,7 @@ calibrate_return calibrate_from_orientation(int mavlink_fd,
if (orientation_failures > 4) {
result = calibrate_return_error;
mavlink_and_console_log_critical(mavlink_fd, "[cal] ERROR: timeout waiting for orientation");
mavlink_and_console_log_critical(mavlink_fd, CAL_QGC_FAILED_MSG, "timeout: no motion");
break;
}
@@ -488,7 +488,7 @@ calibrate_return calibrate_from_orientation(int mavlink_fd,
// Note that this side is complete
side_data_collected[orient] = true;
tune_neutral(true);
sleep(1);
usleep(500000);
}
if (sub_accel >= 0) {