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Add "calibrate esc" command

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Don Gagne
2015-05-22 22:27:43 +02:00
committed by Lorenz Meier
parent d530cbcda2
commit 7f5a5e085c
1 changed files with 5 additions and 8 deletions
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src/modules/commander/commander.cpp
+4 -7
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@@ -319,6 +319,8 @@ int commander_main(int argc, char *argv[])
calib_ret = do_gyro_calibration(mavlink_fd); calib_ret = do_gyro_calibration(mavlink_fd);
} else if (!strcmp(argv[2], "level")) { } else if (!strcmp(argv[2], "level")) {
calib_ret = do_level_calibration(mavlink_fd); calib_ret = do_level_calibration(mavlink_fd);
} else if (!strcmp(argv[2], "esc")) {
calib_ret = do_esc_calibration(mavlink_fd, &armed);
} else { } else {
warnx("argument %s unsupported.", argv[2]); warnx("argument %s unsupported.", argv[2]);
} }
@@ -2735,13 +2737,8 @@ void *commander_low_prio_loop(void *arg)
} else if ((int)(cmd.param7) == 1) { } else if ((int)(cmd.param7) == 1) {
/* do esc calibration */ /* do esc calibration */
calib_ret = check_if_batt_disconnected(mavlink_fd); answer_command(cmd,VEHICLE_CMD_RESULT_ACCEPTED);
if(calib_ret == OK) { calib_ret = do_esc_calibration(mavlink_fd, &armed);
answer_command(cmd,VEHICLE_CMD_RESULT_ACCEPTED);
armed.in_esc_calibration_mode = true;
calib_ret = do_esc_calibration(mavlink_fd);
armed.in_esc_calibration_mode = false;
}
} else if ((int)(cmd.param4) == 0) { } else if ((int)(cmd.param4) == 0) {
/* RC calibration ended - have we been in one worth confirming? */ /* RC calibration ended - have we been in one worth confirming? */