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Calibration improvement

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This commit is contained in:
Lorenz Meier
2012-10-29 16:41:53 +01:00
parent c3c76ef3d5
commit 574eb96a2e
5 changed files with 81 additions and 2 deletions
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apps/commander/commander.c
+24 -1
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@@ -360,6 +360,10 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
float *y = malloc(sizeof(float) * calibration_maxcount);
float *z = malloc(sizeof(float) * calibration_maxcount);
tune_confirm();
sleep(2);
tune_confirm();
while (hrt_absolute_time() < calibration_deadline &&
calibration_counter < calibration_maxcount) {
@@ -504,6 +508,13 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
mavlink_log_info(mavlink_fd, buf);
mavlink_log_info(mavlink_fd, "[commander] mag calibration done");
tune_confirm();
sleep(2);
tune_confirm();
sleep(2);
/* third beep by cal end routine */
} else {
mavlink_log_info(mavlink_fd, "[commander] mag calibration FAILED (NaN)");
}
@@ -607,6 +618,12 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
// sprintf(buf, "cal: x:%8.4f y:%8.4f z:%8.4f", (double)gyro_offset[0], (double)gyro_offset[1], (double)gyro_offset[2]);
// mavlink_log_info(mavlink_fd, buf);
mavlink_log_info(mavlink_fd, "[commander] gyro calibration done");
tune_confirm();
sleep(2);
tune_confirm();
sleep(2);
/* third beep by cal end routine */
} else {
mavlink_log_info(mavlink_fd, "[commander] gyro calibration FAILED (NaN)");
}
@@ -721,6 +738,12 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status)
//sprintf(buf, "[commander] accel cal: x:%8.4f y:%8.4f z:%8.4f\n", (double)accel_offset[0], (double)accel_offset[1], (double)accel_offset[2]);
//mavlink_log_info(mavlink_fd, buf);
mavlink_log_info(mavlink_fd, "[commander] accel calibration done");
tune_confirm();
sleep(2);
tune_confirm();
sleep(2);
/* third beep by cal end routine */
} else {
mavlink_log_info(mavlink_fd, "[commander] accel calibration FAILED (NaN)");
}
@@ -740,7 +763,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
uint8_t result = MAV_RESULT_UNSUPPORTED;
/* announce command handling */
ioctl(buzzer, TONE_SET_ALARM, 1);
tune_confirm();
/* supported command handling start */