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accelerometer_calibration: stability fix

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This commit is contained in:
Anton Babushkin
2013-10-21 23:33:01 +02:00
parent ef42ef15c6
commit 495073935e
1 changed files with 5 additions and 2 deletions
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src/modules/commander/accelerometer_calibration.cpp
+5 -2
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@@ -180,10 +180,13 @@ int do_accel_calibration(int mavlink_fd)
mavlink_log_critical(mavlink_fd, CAL_FAILED_RESET_CAL_MSG);
}
/* measure and calculate offsets & scales */
float accel_offs[3];
float accel_T[3][3];
res = do_accel_calibration_measurements(mavlink_fd, accel_offs, accel_T);
if (res == OK) {
/* measure and calculate offsets & scales */
res = do_accel_calibration_measurements(mavlink_fd, accel_offs, accel_T);
}
if (res == OK) {
/* measurements completed successfully, rotate calibration values */