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commander : warn if excess accels are connected

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This commit is contained in:
Mohammed Kabir
2017-05-27 00:31:05 +02:00
committed by Lorenz Meier
parent d177ccc9a7
commit 52f1718bb8
1 changed files with 8 additions and 0 deletions
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src/modules/commander/accelerometer_calibration.cpp
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@@ -466,9 +466,17 @@ calibrate_return do_accel_calibration_measurements(orb_advert_t *mavlink_log_pub
// We should not try to subscribe if the topic doesn't actually exist and can be counted.
const unsigned accel_count = orb_group_count(ORB_ID(sensor_accel));
// Warn that we will not calibrate more than max_accels accelerometers
if (accel_count > max_accel_sens) {
calibration_log_critical(mavlink_log_pub, "[cal] Detected %u accels, but will calibrate only %u", accel_count, max_accel_sens);
}
for (unsigned i = 0; i < accel_count; i++) {
worker_data.subs[i] = orb_subscribe_multi(ORB_ID(sensor_accel), i);
if (worker_data.subs[i] < 0) {
calibration_log_critical(mavlink_log_pub, "[cal] Accel #%u not found, abort", i);
result = calibrate_return_error;
break;
}