fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-17 20:53:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Calibration WIP, not compiling

Browse Source
This commit is contained in:
Lorenz Meier
2012-10-17 08:02:50 +02:00
parent 32e586d4b7
commit 97726fa679
5 changed files with 192 additions and 213 deletions
Download Patch File Download Diff File Expand all files Collapse all files
apps/commander/commander.c
+17
View File
@@ -299,6 +299,9 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
float mag_min[3] = {FLT_MAX, FLT_MAX, FLT_MAX};
int fd = open(MAG_DEVICE_PATH, 0);
struct mag_scale mscale_null = {
0.0f,
1.0f,
@@ -396,6 +399,8 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
* to shift the center to zero
*
* offset = max - ((max - min) / 2.0f)
* max - max/2 + min/2
* max/2 + min/2
*
* which reduces to
*
@@ -422,6 +427,18 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
fprintf(stderr, "[commander] Setting Z mag offset failed!\n");
}
if (param_set(param_find("SENS_MAG_XSCALE"), &(mag_offset[0]))) {
fprintf(stderr, "[commander] Setting X mag offset failed!\n");
}
if (param_set(param_find("SENS_MAG_YSCALE"), &(mag_offset[1]))) {
fprintf(stderr, "[commander] Setting Y mag offset failed!\n");
}
if (param_set(param_find("SENS_MAG_ZSCALE"), &(mag_offset[2]))) {
fprintf(stderr, "[commander] Setting Z mag offset failed!\n");
}
fd = open(MAG_DEVICE_PATH, 0);
struct mag_scale mscale = {
mag_offset[0],