fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-29 13:33:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Add "calibrate esc" command

Browse Source
This commit is contained in:
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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/commander.cpp
+5 -8
View File
@@ -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]);
} }
@@ -2735,14 +2737,9 @@ 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? */
if (status.rc_input_blocked) { if (status.rc_input_blocked) {