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Fixed gyro scale calibration (it was storing scale even though the scale calibration was skipped

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This commit is contained in:
Julian Oes
2013-08-14 22:33:43 +02:00
committed by Anton Babushkin
parent 9505654f91
commit 53def47216
1 changed files with 6 additions and 2 deletions
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src/modules/commander/gyro_calibration.cpp
+6 -2
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@@ -177,8 +177,12 @@ void do_gyro_calibration(int mavlink_fd)
/* abort this loop if not rotated more than 180 degrees within 5 seconds */ /* abort this loop if not rotated more than 180 degrees within 5 seconds */
if ((fabsf(baseline_integral / (2.0f * M_PI_F)) < 0.6f) if ((fabsf(baseline_integral / (2.0f * M_PI_F)) < 0.6f)
&& (hrt_absolute_time() - start_time > 5 * 1e6)) && (hrt_absolute_time() - start_time > 5 * 1e6)) {
break; mavlink_log_info(mavlink_fd, "gyro scale calibration skipped");
mavlink_log_info(mavlink_fd, "gyro calibration done");
tune_positive();
return;
}
/* wait blocking for new data */ /* wait blocking for new data */
struct pollfd fds[1]; struct pollfd fds[1];