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Calibration WIP, not compiling

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Lorenz Meier
2012-10-17 08:02:50 +02:00
parent 32e586d4b7
commit 97726fa679
5 changed files with 192 additions and 213 deletions
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apps/sensors/sensors.cpp
+15 -4
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@@ -1,7 +1,7 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
* Author: Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -34,6 +34,7 @@
/**
* @file sensors.cpp
* @author Lorenz Meier <lm@inf.ethz.ch>
*
* Sensor readout process.
*/
@@ -178,6 +179,7 @@ private:
float gyro_offset[3];
float mag_offset[3];
float mag_scale[3];
float accel_offset[3];
float accel_scale[3];
@@ -209,6 +211,7 @@ private:
param_t accel_offset[3];
param_t accel_scale[3];
param_t mag_offset[3];
param_t mag_scale[3];
param_t rc_map_roll;
param_t rc_map_pitch;
@@ -414,6 +417,10 @@ Sensors::Sensors() :
_parameter_handles.mag_offset[1] = param_find("SENS_MAG_YOFF");
_parameter_handles.mag_offset[2] = param_find("SENS_MAG_ZOFF");
_parameter_handles.mag_scale[0] = param_find("SENS_MAG_XSCALE");
_parameter_handles.mag_scale[1] = param_find("SENS_MAG_YSCALE");
_parameter_handles.mag_scale[2] = param_find("SENS_MAG_ZSCALE");
_parameter_handles.battery_voltage_scaling = param_find("BAT_V_SCALING");
/* fetch initial parameter values */
@@ -537,6 +544,10 @@ Sensors::parameters_update()
param_get(_parameter_handles.mag_offset[0], &(_parameters.mag_offset[0]));
param_get(_parameter_handles.mag_offset[1], &(_parameters.mag_offset[1]));
param_get(_parameter_handles.mag_offset[2], &(_parameters.mag_offset[2]));
/* mag scaling */
param_get(_parameter_handles.mag_offset[0], &(_parameters.mag_scale[0]));
param_get(_parameter_handles.mag_offset[1], &(_parameters.mag_scale[1]));
param_get(_parameter_handles.mag_offset[2], &(_parameters.mag_scale[2]));
/* scaling of ADC ticks to battery voltage */
if (param_get(_parameter_handles.battery_voltage_scaling, &(_parameters.battery_voltage_scaling)) != OK) {
@@ -798,11 +809,11 @@ Sensors::parameter_update_poll(bool forced)
fd = open(MAG_DEVICE_PATH, 0);
struct mag_scale mscale = {
_parameters.mag_offset[0],
1.0f,
_parameters.mag_scale[0],
_parameters.mag_offset[1],
1.0f,
_parameters.mag_scale[1],
_parameters.mag_offset[2],
1.0f,
_parameters.mag_scale[2],
};
if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale))
warn("WARNING: failed to set scale / offsets for mag");