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events: Add accelerometer and baro thermal calibration

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This commit is contained in:
Paul Riseborough
2017-02-02 08:53:32 +11:00
committed by Lorenz Meier
parent f0c456dd54
commit 4d163eebb9
5 changed files with 821 additions and 0 deletions
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src/modules/events/send_event.cpp
+48
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@@ -187,6 +187,8 @@ static void print_usage(const char *reason = nullptr)
PX4_INFO("usage: send_event {start_listening|stop_listening|status|temperature_calibration}\n"
"\tstart_listening: start background task to listen to events\n"
"\tstart_temp_gyro_cal: start gyro temperature calibration task\n"
"\tstart_temp_accel_cal: start accelerometer temperature calibration task\n"
"\tstart_temp_baro_cal: start barometer temperature calibration task\n"
);
}
@@ -255,6 +257,52 @@ int send_event_main(int argc, char *argv[])
orb_advert_t h = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
(void)orb_unadvertise(h);
} else if (!strcmp(argv[1], "start_temp_accel_cal")) {
if (!send_event_obj) {
PX4_ERR("background task not running");
return -1;
}
vehicle_command_s cmd = {};
cmd.target_system = -1;
cmd.target_component = -1;
cmd.command = vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION;
cmd.param1 = 3;
cmd.param2 = NAN;
cmd.param3 = NAN;
cmd.param4 = NAN;
cmd.param5 = NAN;
cmd.param6 = NAN;
cmd.param7 = NAN;
orb_advert_t h = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
(void)orb_unadvertise(h);
} else if (!strcmp(argv[1], "start_temp_baro_cal")) {
if (!send_event_obj) {
PX4_ERR("background task not running");
return -1;
}
vehicle_command_s cmd = {};
cmd.target_system = -1;
cmd.target_component = -1;
cmd.command = vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION;
cmd.param1 = 4;
cmd.param2 = NAN;
cmd.param3 = NAN;
cmd.param4 = NAN;
cmd.param5 = NAN;
cmd.param6 = NAN;
cmd.param7 = NAN;
orb_advert_t h = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
(void)orb_unadvertise(h);
} else {
print_usage("unrecognized command");
}