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commander fix and enforce code style

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This commit is contained in:
Daniel Agar
2018-11-28 20:42:03 -05:00
parent 91721f2060
commit 48d9484ceb
16 changed files with 855 additions and 481 deletions
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src/modules/commander/airspeed_calibration.cpp
+13 -4
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@@ -107,6 +107,7 @@ int do_airspeed_calibration(orb_advert_t *mavlink_log_pub)
/* only warn if analog scaling is zero */
float analog_scaling = 0.0f;
param_get(param_find("SENS_DPRES_ANSC"), &(analog_scaling));
if (fabsf(analog_scaling) < 0.1f) {
calibration_log_critical(mavlink_log_pub, "[cal] No airspeed sensor found");
goto error_return;
@@ -143,7 +144,8 @@ int do_airspeed_calibration(orb_advert_t *mavlink_log_pub)
/* any differential pressure failure a reason to abort */
if (diff_pres.error_count != 0) {
calibration_log_critical(mavlink_log_pub, "[cal] Airspeed sensor is reporting errors (%" PRIu64 ")", diff_pres.error_count);
calibration_log_critical(mavlink_log_pub, "[cal] Airspeed sensor is reporting errors (%" PRIu64 ")",
diff_pres.error_count);
calibration_log_critical(mavlink_log_pub, "[cal] Check your wiring before trying again");
feedback_calibration_failed(mavlink_log_pub);
goto error_return;
@@ -166,6 +168,7 @@ int do_airspeed_calibration(orb_advert_t *mavlink_log_pub)
int fd_scale = px4_open(AIRSPEED0_DEVICE_PATH, 0);
airscale.offset_pa = diff_pres_offset;
if (fd_scale > 0) {
if (PX4_OK != px4_ioctl(fd_scale, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale)) {
calibration_log_critical(mavlink_log_pub, "[cal] airspeed offset update failed");
@@ -220,15 +223,19 @@ int do_airspeed_calibration(orb_advert_t *mavlink_log_pub)
if (fabsf(diff_pres.differential_pressure_filtered_pa) > 50.0f) {
if (diff_pres.differential_pressure_filtered_pa > 0) {
calibration_log_info(mavlink_log_pub, "[cal] Positive pressure: OK (%d Pa)", (int)diff_pres.differential_pressure_filtered_pa);
calibration_log_info(mavlink_log_pub, "[cal] Positive pressure: OK (%d Pa)",
(int)diff_pres.differential_pressure_filtered_pa);
break;
} else {
/* do not allow negative values */
calibration_log_critical(mavlink_log_pub, "[cal] Negative pressure difference detected (%d Pa)", (int)diff_pres.differential_pressure_filtered_pa);
calibration_log_critical(mavlink_log_pub, "[cal] Negative pressure difference detected (%d Pa)",
(int)diff_pres.differential_pressure_filtered_pa);
calibration_log_critical(mavlink_log_pub, "[cal] Swap static and dynamic ports!");
/* the user setup is wrong, wipe the calibration to force a proper re-calibration */
diff_pres_offset = 0.0f;
if (param_set(param_find("SENS_DPRES_OFF"), &(diff_pres_offset))) {
calibration_log_critical(mavlink_log_pub, CAL_ERROR_SET_PARAMS_MSG, 1);
goto error_return;
@@ -244,9 +251,11 @@ int do_airspeed_calibration(orb_advert_t *mavlink_log_pub)
}
if (calibration_counter % 500 == 0) {
calibration_log_info(mavlink_log_pub, "[cal] Create air pressure! (got %d, wanted: 50 Pa)", (int)diff_pres.differential_pressure_filtered_pa);
calibration_log_info(mavlink_log_pub, "[cal] Create air pressure! (got %d, wanted: 50 Pa)",
(int)diff_pres.differential_pressure_filtered_pa);
tune_neutral(true);
}
calibration_counter++;
} else if (poll_ret == 0) {