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calibration: make sure to notify the system when temp calibration changes

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This is needed so that temperature compensation reads in the updated values
and publishes the updated sensor_correction topic.
This commit is contained in:
Beat Küng
2017-02-01 08:40:23 +01:00
committed by Lorenz Meier
parent 7ebe2ac017
commit 4763a119bc
2 changed files with 10 additions and 2 deletions
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src/modules/commander/accelerometer_calibration.cpp
+5 -1
View File
@@ -345,7 +345,11 @@ 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;
} }
failed |= (PX4_OK != param_set_no_notification(handle, &val)); 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));
}
} }
// Ensure the calibration values used the driver are at default settings // Ensure the calibration values used the driver are at default settings
src/modules/commander/gyro_calibration.cpp
+5 -1
View File
@@ -392,7 +392,11 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
} else if (axis_index == 2) { } else if (axis_index == 2) {
val += worker_data.gyro_scale[uorb_index].z_offset; val += worker_data.gyro_scale[uorb_index].z_offset;
} }
failed |= (PX4_OK != param_set_no_notification(handle, &val)); 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));
}
} }
// Ensure the calibration values used the driver are at default settings // Ensure the calibration values used the driver are at default settings
worker_data.gyro_scale[uorb_index].x_offset = 0.f; worker_data.gyro_scale[uorb_index].x_offset = 0.f;