moved commander to C++, preparation for better gyro scale calibration respecting the current attitude for more accurate results

2026-06-27 16:30:35 +08:00 · 2013-07-20 13:47:51 +02:00
parent da1bf69ce2
commit 68ab69de01
13 changed files with 156 additions and 86 deletions
@@ -0,0 +1,83 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file rc_calibration.cpp
+ * Remote Control calibration routine
+ */
+
+#include "rc_calibration.h"
+#include "commander_helper.h"
+
+#include <poll.h>
+#include <uORB/topics/sensor_combined.h>
+#include <uORB/topics/manual_control_setpoint.h>
+#include <mavlink/mavlink_log.h>
+#include <systemlib/param/param.h>
+#include <systemlib/err.h>
+
+
+void do_rc_calibration(int mavlink_fd)
+{
+	mavlink_log_info(mavlink_fd, "trim calibration starting");
+
+	/* XXX fix this */
+	// if (current_status.rc_signal) {
+	// 	mavlink_log_critical(mavlink_fd, "TRIM CAL: ABORT. No RC signal.");
+	// 	return;
+	// }
+
+	int sub_man = orb_subscribe(ORB_ID(manual_control_setpoint));
+	struct manual_control_setpoint_s sp;
+	orb_copy(ORB_ID(manual_control_setpoint), sub_man, &sp);
+
+	/* set parameters */
+	float p = sp.roll;
+	param_set(param_find("TRIM_ROLL"), &p);
+	p = sp.pitch;
+	param_set(param_find("TRIM_PITCH"), &p);
+	p = sp.yaw;
+	param_set(param_find("TRIM_YAW"), &p);
+
+	/* store to permanent storage */
+	/* auto-save */
+	int save_ret = param_save_default();
+
+	if (save_ret != 0) {
+		mavlink_log_critical(mavlink_fd, "TRIM CAL: WARN: auto-save of params failed");
+	}
+
+	tune_positive();
+
+	mavlink_log_info(mavlink_fd, "trim calibration done");
+}