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accelerometer_calibration: use param_notify_changes

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This commit is contained in:
Beat Küng
2017-02-03 13:57:48 +01:00
committed by Lorenz Meier
parent a802caca87
commit 3eecd16309
1 changed files with 18 additions and 17 deletions
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src/modules/commander/accelerometer_calibration.cpp
+18 -17
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@@ -210,35 +210,36 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
} }
#else #else
(void)sprintf(str, "CAL_ACC%u_XOFF", s); (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) { if (res != PX4_OK) {
PX4_ERR("unable to reset %s", str); PX4_ERR("unable to reset %s", str);
} }
(void)sprintf(str, "CAL_ACC%u_YOFF", s); (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) { if (res != PX4_OK) {
PX4_ERR("unable to reset %s", str); PX4_ERR("unable to reset %s", str);
} }
(void)sprintf(str, "CAL_ACC%u_ZOFF", s); (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) { if (res != PX4_OK) {
PX4_ERR("unable to reset %s", str); PX4_ERR("unable to reset %s", str);
} }
(void)sprintf(str, "CAL_ACC%u_XSCALE", s); (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) { if (res != PX4_OK) {
PX4_ERR("unable to reset %s", str); PX4_ERR("unable to reset %s", str);
} }
(void)sprintf(str, "CAL_ACC%u_YSCALE", s); (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) { if (res != PX4_OK) {
PX4_ERR("unable to reset %s", str); PX4_ERR("unable to reset %s", str);
} }
(void)sprintf(str, "CAL_ACC%u_ZSCALE", s); (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) { if (res != PX4_OK) {
PX4_ERR("unable to reset %s", str); PX4_ERR("unable to reset %s", str);
} }
param_notify_changes();
#endif #endif
} }
@@ -351,12 +352,9 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
} else if (axis_index == 2) { } else if (axis_index == 2) {
val = accel_scale.z_scale; 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_no_notification(handle, &val));
failed |= (PX4_OK != param_set(handle, &val));
} else {
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 // 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; float zero = 0.0f;
param_set(roll_offset_handle, &zero); param_set_no_notification(roll_offset_handle, &zero);
param_set(pitch_offset_handle, &zero); param_set_no_notification(pitch_offset_handle, &zero);
param_notify_changes();
px4_pollfd_struct_t fds[1]; px4_pollfd_struct_t fds[1];
@@ -808,8 +807,9 @@ int do_level_calibration(orb_advert_t *mavlink_log_pub) {
} else { } else {
roll_mean *= (float)M_RAD_TO_DEG; roll_mean *= (float)M_RAD_TO_DEG;
pitch_mean *= (float)M_RAD_TO_DEG; pitch_mean *= (float)M_RAD_TO_DEG;
param_set(roll_offset_handle, &roll_mean); param_set_no_notification(roll_offset_handle, &roll_mean);
param_set(pitch_offset_handle, &pitch_mean); param_set_no_notification(pitch_offset_handle, &pitch_mean);
param_notify_changes();
success = true; success = true;
} }
@@ -819,8 +819,9 @@ out:
return 0; return 0;
} else { } else {
// set old parameters // set old parameters
param_set(roll_offset_handle, &roll_offset_current); param_set_no_notification(roll_offset_handle, &roll_offset_current);
param_set(pitch_offset_handle, &pitch_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"); calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "level");
return 1; return 1;
} }