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Fix calibration counter usage, take every sample

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Lorenz Meier
2014-07-13 12:44:57 +02:00
parent 744eed91dc
commit 8590d555b4
1 changed files with 4 additions and 5 deletions
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src/modules/commander/airspeed_calibration.cpp
+4 -5
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@@ -167,8 +167,8 @@ int do_airspeed_calibration(int mavlink_fd)
calibration_counter = 0;
/* just take a few samples and make sure pitot tubes are not reversed */
while (calibration_counter < 300) {
/* just take a few samples and make sure pitot tubes are not reversed, timeout after ~30 seconds */
while (calibration_counter < 1500) {
/* wait blocking for new data */
struct pollfd fds[1];
@@ -181,14 +181,13 @@ int do_airspeed_calibration(int mavlink_fd)
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 (calibration_counter % 20 == 0) {
if (calibration_counter % 100 == 0) {
mavlink_log_critical(mavlink_fd, "Create airflow on pitot (%d Pa, #h101)",
(int)calibrated_pa);
}
usleep(100 * 1000);
calibration_counter++;
continue;
}