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accelerometer_calibration: use param_notify_changes

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Beat Küng 2017-02-03 10:28:13 +01:00 committed by Lorenz Meier
parent a802caca87
commit 3eecd16309
1 changed files with 18 additions and 17 deletions
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35
src/modules/commander/accelerometer_calibration.cpp
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@ -210,35 +210,36 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
}
#else
(void)sprintf(str, "CAL_ACC%u_XOFF", s);
res = param_set(param_find(str), &accel_scale.x_offset);
res = param_set_no_notification(param_find(str), &accel_scale.x_offset);
if (res != PX4_OK) {
PX4_ERR("unable to reset %s", str);
}
(void)sprintf(str, "CAL_ACC%u_YOFF", s);
res = param_set(param_find(str), &accel_scale.y_offset);
res = param_set_no_notification(param_find(str), &accel_scale.y_offset);
if (res != PX4_OK) {
PX4_ERR("unable to reset %s", str);
}
(void)sprintf(str, "CAL_ACC%u_ZOFF", s);
res = param_set(param_find(str), &accel_scale.z_offset);
res = param_set_no_notification(param_find(str), &accel_scale.z_offset);
if (res != PX4_OK) {
PX4_ERR("unable to reset %s", str);
}
(void)sprintf(str, "CAL_ACC%u_XSCALE", s);
res = param_set(param_find(str), &accel_scale.x_scale);
res = param_set_no_notification(param_find(str), &accel_scale.x_scale);
if (res != PX4_OK) {
PX4_ERR("unable to reset %s", str);
}
(void)sprintf(str, "CAL_ACC%u_YSCALE", s);
res = param_set(param_find(str), &accel_scale.y_scale);
res = param_set_no_notification(param_find(str), &accel_scale.y_scale);
if (res != PX4_OK) {
PX4_ERR("unable to reset %s", str);
}
(void)sprintf(str, "CAL_ACC%u_ZSCALE", s);
res = param_set(param_find(str), &accel_scale.z_scale);
res = param_set_no_notification(param_find(str), &accel_scale.z_scale);
if (res != PX4_OK) {
PX4_ERR("unable to reset %s", str);
}
param_notify_changes();
#endif
}
@ -351,12 +352,9 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
} else if (axis_index == 2) {
val = accel_scale.z_scale;
}
if (axis_index == 2) { //notify the system about the change, but only once, for the last one
failed |= (PX4_OK != param_set(handle, &val));
} else {
failed |= (PX4_OK != param_set_no_notification(handle, &val));
}
failed |= (PX4_OK != param_set_no_notification(handle, &val));
}
param_notify_changes();
}
// Ensure the calibration values used by the driver are at default settings when we are using thermal calibration data
@ -752,8 +750,9 @@ int do_level_calibration(orb_advert_t *mavlink_log_pub) {
}
float zero = 0.0f;
param_set(roll_offset_handle, &zero);
param_set(pitch_offset_handle, &zero);
param_set_no_notification(roll_offset_handle, &zero);
param_set_no_notification(pitch_offset_handle, &zero);
param_notify_changes();
px4_pollfd_struct_t fds[1];
@ -808,8 +807,9 @@ int do_level_calibration(orb_advert_t *mavlink_log_pub) {
} else {
roll_mean *= (float)M_RAD_TO_DEG;
pitch_mean *= (float)M_RAD_TO_DEG;
param_set(roll_offset_handle, &roll_mean);
param_set(pitch_offset_handle, &pitch_mean);
param_set_no_notification(roll_offset_handle, &roll_mean);
param_set_no_notification(pitch_offset_handle, &pitch_mean);
param_notify_changes();
success = true;
}
@ -819,8 +819,9 @@ out:
return 0;
} else {
// set old parameters
param_set(roll_offset_handle, &roll_offset_current);
param_set(pitch_offset_handle, &pitch_offset_current);
param_set_no_notification(roll_offset_handle, &roll_offset_current);
param_set_no_notification(pitch_offset_handle, &pitch_offset_current);
param_notify_changes();
calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "level");
return 1;
}