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events: abort calibration if starting temperature is too high

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This commit is contained in:
Paul Riseborough
2017-02-12 09:21:37 +01:00
committed by Lorenz Meier
parent 22c8c59829
commit 36f83e46ee
5 changed files with 101 additions and 52 deletions
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src/modules/events/temperature_calibration/task.cpp
+27 -22
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@@ -183,6 +183,7 @@ void TemperatureCalibration::task_main()
hrt_abstime next_progress_output = hrt_absolute_time() + 1e6;
bool abort_calibration = false;
while (!_force_task_exit) {
/* we poll on the gyro(s), since this is the sensor with the highest update rate.
* Each individual sensor will then check on its own if there's new data.
@@ -212,19 +213,22 @@ void TemperatureCalibration::task_main()
for (int i = 0; i < num_calibrators; ++i) {
ret = calibrators[i]->update();
if (ret < 0) {
if (!error_reported[i]) {
PX4_ERR("Calibration update step failed (%i)", ret);
error_reported[i] = true;
}
if (ret == -110) {
abort_calibration = true;
PX4_ERR("Calibration won't start - sensor temperature too high");
_force_task_exit = true;
break;
} else if (ret < 0 && !error_reported[i]) {
// temperature has decreased so calibration is not being updated
error_reported[i] = true;
PX4_ERR("Calibration update step failed (%i)", ret);
} else if (ret < min_progress) {
// temperature is stable or increasing
min_progress = ret;
}
}
if (min_progress == 110) {
if (min_progress == 110 || abort_calibration) {
break; // we are done
}
@@ -237,25 +241,26 @@ void TemperatureCalibration::task_main()
}
}
PX4_INFO("Sensor Measurments completed");
if (!abort_calibration) {
PX4_INFO("Sensor Measurments completed");
// do final calculations & parameter storage
for (int i = 0; i < num_calibrators; ++i) {
int ret = calibrators[i]->finish();
// do final calculations & parameter storage
for (int i = 0; i < num_calibrators; ++i) {
int ret = calibrators[i]->finish();
if (ret < 0) {
PX4_ERR("Failed to finish calibration process (%i)", ret);
if (ret < 0) {
PX4_ERR("Failed to finish calibration process (%i)", ret);
}
}
param_notify_changes();
int ret = param_save_default();
if (ret != 0) {
PX4_ERR("Failed to save params (%i)", ret);
}
}
param_notify_changes();
int ret = param_save_default();
if (ret != 0) {
PX4_ERR("Failed to save params (%i)", ret);
}
for (int i = 0; i < num_calibrators; ++i) {
delete calibrators[i];
}