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Merge branch 'master' of github.com:PX4/Firmware into fmuv2_bringup_new_state_machine_drton

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Lorenz Meier
2013-08-20 09:41:16 +02:00
parent 95260d4535 deb426b660
commit 7cff9b1e84
4 changed files with 174 additions and 7 deletions
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src/modules/commander/accelerometer_calibration.cpp
+13 -1
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@@ -230,6 +230,12 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float
if (orient < 0)
return ERROR;
if (data_collected[orient]) {
sprintf(str, "%s direction already measured, please rotate", orientation_strs[orient]);
mavlink_log_info(mavlink_fd, str);
continue;
}
sprintf(str, "meas started: %s", orientation_strs[orient]);
mavlink_log_info(mavlink_fd, str);
read_accelerometer_avg(sensor_combined_sub, &(accel_ref[orient][0]), samples_num);
@@ -391,6 +397,8 @@ int read_accelerometer_avg(int sensor_combined_sub, float accel_avg[3], int samp
int count = 0;
float accel_sum[3] = { 0.0f, 0.0f, 0.0f };
int errcount = 0;
while (count < samples_num) {
int poll_ret = poll(fds, 1, 1000);
if (poll_ret == 1) {
@@ -400,8 +408,12 @@ int read_accelerometer_avg(int sensor_combined_sub, float accel_avg[3], int samp
accel_sum[i] += sensor.accelerometer_m_s2[i];
count++;
} else {
return ERROR;
errcount++;
continue;
}
if (errcount > samples_num / 10)
return ERROR;
}
for (int i = 0; i < 3; i++) {