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IST8310 driver: Fix startup / calibration order

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The IST driver did not optimally check the calibration result and could trigger false positives if the mag data aligned with wrong signs
This commit is contained in:
Lorenz Meier
2017-10-09 19:05:46 +02:00
parent 44a71d90f5
commit 5278791f3d
1 changed files with 30 additions and 16 deletions
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src/drivers/ist8310/ist8310.cpp
+30 -16
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@@ -1029,9 +1029,9 @@ int IST8310::calibrate(struct file *filp, unsigned enable)
struct mag_report report;
ssize_t sz;
int ret = 1;
float total_x;
float total_y;
float total_z;
float total_x = 0.0f;
float total_y = 0.0f;
float total_z = 0.0f;
// XXX do something smarter here
int fd = (int)enable;
@@ -1088,7 +1088,7 @@ int IST8310::calibrate(struct file *filp, unsigned enable)
}
for (uint8_t i = 0; i < 60; i++) {
for (uint8_t i = 0; i < 30; i++) {
struct pollfd fds;
@@ -1121,9 +1121,9 @@ int IST8310::calibrate(struct file *filp, unsigned enable)
}
}
total_x = fabs(sum_in_test[0]) - fabs(sum_in_normal[0]);
total_y = fabs(sum_in_test[1]) - fabs(sum_in_normal[1]);
total_z = fabs(sum_in_test[2]) - fabs(sum_in_normal[2]);
total_x = fabsf(sum_in_test[0] - sum_in_normal[0]);
total_y = fabsf(sum_in_test[1] - sum_in_normal[1]);
total_z = fabsf(sum_in_test[2] - sum_in_normal[2]);
ret = ((total_x + total_y + total_z) < (float)0.000001);
@@ -1146,6 +1146,8 @@ out:
ret = PX4_ERROR;
}
} else {
PX4_ERR("FAILED: CALIBRATION SCALE %d, %d, %d", (int)total_x, (int)total_y, (int)total_z);
}
return ret;
@@ -1180,8 +1182,12 @@ int IST8310::check_calibration()
bool scale_valid = (check_scale() == OK);
if (_calibrated != (offset_valid && scale_valid)) {
PX4_WARN("mag cal status changed %s%s", (scale_valid) ? "" : "scale invalid ",
(offset_valid) ? "" : "offset invalid");
if (!scale_valid || !offset_valid) {
PX4_WARN("mag cal status changed %s%s", (scale_valid) ? "" : "scale invalid ",
(offset_valid) ? "" : "offset invalid");
}
_calibrated = (offset_valid && scale_valid);
}
@@ -1604,7 +1610,7 @@ ist8310_main(int argc, char *argv[])
if (myoptind >= argc) {
ist8310::usage();
exit(1);
return 1;
}
const char *verb = argv[myoptind];
@@ -1615,11 +1621,16 @@ ist8310_main(int argc, char *argv[])
if (!strcmp(verb, "start")) {
ist8310::start(i2c_busid, i2c_addr, rotation);
if (calibrate && ist8310::calibrate(i2c_busid) != 0) {
errx(1, "calibration failed");
if (i2c_busid == IST8310_BUS_ALL) {
PX4_ERR("calibration only feasible against one bus");
return 1;
} else if (calibrate && (ist8310::calibrate(i2c_busid) != 0)) {
PX4_ERR("calibration failed");
return 1;
}
exit(0);
return 0;
}
/*
@@ -1648,12 +1659,15 @@ ist8310_main(int argc, char *argv[])
*/
if (!strcmp(verb, "calibrate")) {
if (ist8310::calibrate(i2c_busid) == 0) {
errx(0, "calibration successful");
PX4_INFO("calibration successful");
return 0;
} else {
errx(1, "calibration failed");
PX4_ERR("calibration failed");
return 1;
}
}
errx(1, "unrecognized command, try 'start', 'test', 'reset' 'calibrate', 'tempoff', 'tempon' or 'info'");
ist8310::usage();
return 1;
}