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Fix for dynamic / static part of calibration

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Lorenz Meier
2014-07-12 22:18:59 +02:00
parent 80c522b821
commit 4824a4e8ac
1 changed files with 3 additions and 16 deletions
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src/modules/commander/airspeed_calibration.cpp
+3 -16
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@@ -121,19 +121,6 @@ int do_airspeed_calibration(int mavlink_fd)
if (poll_ret) {
orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres);
if (calc_indicated_airspeed(fabsf(diff_pres.differential_pressure_raw_pa)) < 10.0f) {
mavlink_log_critical(mavlink_fd, "Put a finger on front hole of pitot");
usleep(5000 * 1000);
continue;
}
/* do not log negative values in the second go */
if ((diff_pres_offset / calibration_counter) < calc_indicated_airspeed(-5.0f)) {
mavlink_log_critical(mavlink_fd, "Negative val: swap static<->dynamic ports,restart");
close(diff_pres_sub);
return ERROR;
}
diff_pres_offset += diff_pres.differential_pressure_raw_pa;
calibration_counter++;
@@ -197,16 +184,16 @@ int do_airspeed_calibration(int mavlink_fd)
diff_pres_offset += diff_pres.differential_pressure_raw_pa;
calibration_counter++;
float curr_avg = (diff_pres_offset / calibration_counter);
float curr_avg_airspeed = calc_indicated_airspeed(diff_pres_offset / calibration_counter);
if (calc_indicated_airspeed(fabsf(curr_avg)) < 10.0f) {
if (fabsf(curr_avg) < 10.0f) {
mavlink_log_critical(mavlink_fd, "Put a finger on front hole of pitot (%.1f m/s)", (double)curr_avg);
usleep(5000 * 1000);
continue;
}
/* do not log negative values in the second go */
if (curr_avg < -calc_indicated_airspeed(5.0f)) {
if (curr_avg_airspeed < -calc_indicated_airspeed(5.0f)) {
mavlink_log_critical(mavlink_fd, "Negative val: swap static<->dynamic ports,restart");
close(diff_pres_sub);