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Force update of offset, do not add offset in final value

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This commit is contained in:
Lorenz Meier
2014-07-14 00:04:02 +02:00
parent 56ad0c708d
commit 7968c6864e
2 changed files with 17 additions and 8 deletions
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src/modules/commander/airspeed_calibration.cpp
+15 -6
View File
@@ -140,6 +140,16 @@ int do_airspeed_calibration(int mavlink_fd)
if (isfinite(diff_pres_offset)) {
int fd_scale = open(AIRSPEED_DEVICE_PATH, 0);
airscale.offset_pa = diff_pres_offset;
if (fd_scale > 0) {
if (OK != ioctl(fd_scale, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale)) {
mavlink_log_critical(mavlink_fd, "airspeed offset update failed");
}
close(fd_scale);
}
if (param_set(param_find("SENS_DPRES_OFF"), &(diff_pres_offset))) {
mavlink_log_critical(mavlink_fd, CAL_FAILED_SET_PARAMS_MSG);
close(diff_pres_sub);
@@ -182,20 +192,19 @@ int do_airspeed_calibration(int mavlink_fd)
if (poll_ret) {
orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres);
float calibrated_pa = diff_pres.differential_pressure_raw_pa - diff_pres_offset;
calibration_counter++;
if (fabsf(calibrated_pa) < 50.0f) {
if (fabsf(diff_pres.differential_pressure_raw_pa) < 50.0f) {
if (calibration_counter % 100 == 0) {
mavlink_log_critical(mavlink_fd, "Create airflow on pitot (%d Pa, #h101)",
(int)calibrated_pa);
(int)diff_pres.differential_pressure_raw_pa);
}
continue;
}
/* do not allow negative values */
if (calibrated_pa < 0.0f) {
mavlink_log_critical(mavlink_fd, "%d Pa: swap static and dynamic ports!", (int)calibrated_pa);
if (diff_pres.differential_pressure_raw_pa < 0.0f) {
mavlink_log_critical(mavlink_fd, "%d Pa: swap static and dynamic ports!", (int)diff_pres.differential_pressure_raw_pa);
close(diff_pres_sub);
/* the user setup is wrong, wipe the calibration to force a proper re-calibration */
@@ -217,7 +226,7 @@ int do_airspeed_calibration(int mavlink_fd)
return ERROR;
} else {
mavlink_log_info(mavlink_fd, "positive pressure: OK (%d Pa)",
(int)calibrated_pa);
(int)diff_pres.differential_pressure_raw_pa);
break;
}
src/modules/commander/state_machine_helper.cpp
+2 -2
View File
@@ -668,8 +668,8 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
struct airspeed_s airspeed;
if (ret = orb_copy(ORB_ID(airspeed), fd, &airspeed) ||
hrt_elapsed_time(&airspeed.timestamp) > 50 * 1000) {
if ((ret = orb_copy(ORB_ID(airspeed), fd, &airspeed)) ||
(hrt_elapsed_time(&airspeed.timestamp) > (50 * 1000))) {
mavlink_log_critical(mavlink_fd, "ARM FAIL: AIRSPEED SENSOR MISSING");
failed = true;
goto system_eval;