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Completed calibration state machine, calibration state now propagating to sensor, scale calibration soon

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Lorenz Meier
2012-08-06 23:43:09 +02:00
parent f88bba0cec
commit 7f2a63eb96
5 changed files with 105 additions and 54 deletions
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apps/mavlink/mavlink.c
+8 -3
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
@@ -269,8 +269,13 @@ void get_mavlink_mode_and_state(const struct vehicle_status_s *c_status, uint8_t
//TODO: Make this correct
switch (c_status->state_machine) {
case SYSTEM_STATE_PREFLIGHT:
*mavlink_state = MAV_STATE_UNINIT;
*mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED;
if (c_status->preflight_gyro_calibration || c_status->preflight_mag_calibration) {
*mavlink_state = MAV_STATE_CALIBRATING;
*mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED;
} else {
*mavlink_state = MAV_STATE_UNINIT;
*mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED;
}
break;
case SYSTEM_STATE_STANDBY: