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Commander: Relax mag offset to maximum

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Lorenz Meier
2016-03-02 02:03:12 +01:00
parent 68e45057a0
commit 984f07d8c4
1 changed files with 3 additions and 5 deletions
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src/modules/commander/mag_calibration.cpp
+3 -5
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@@ -522,15 +522,13 @@ calibrate_return mag_calibrate_all(int mavlink_fd, int32_t (&device_ids)[max_mag
&sphere_radius[cur_mag]);
if (!PX4_ISFINITE(sphere_x[cur_mag]) || !PX4_ISFINITE(sphere_y[cur_mag]) || !PX4_ISFINITE(sphere_z[cur_mag])) {
mavlink_and_console_log_critical(mavlink_fd, "[cal] ERROR: Please retry");
mavlink_and_console_log_emergency(mavlink_fd, "ERROR: Retry calibration (sphere NaN, #%u)", cur_mag);
result = calibrate_return_error;
}
if (sqrtf(sphere_x[cur_mag] * sphere_x[cur_mag] +
sphere_y[cur_mag] * sphere_y[cur_mag] + sphere_z[cur_mag] * sphere_z[cur_mag])
> MAG_MAX_OFFSET_LEN) {
mavlink_and_console_log_critical(mavlink_fd, "[cal] ERROR: Replace %s", (internal[cur_mag]) ? "board" : "GPS unit");
if (fabsf(sphere_x[cur_mag]) > MAG_MAX_OFFSET_LEN ||
fabsf(sphere_y[cur_mag]) > MAG_MAX_OFFSET_LEN ||
fabsf(sphere_z[cur_mag]) > MAG_MAX_OFFSET_LEN) {
mavlink_and_console_log_emergency(mavlink_fd, "ERROR: Replace %s, fault in mag #%u", (internal[cur_mag]) ? "board" : "GPS unit", cur_mag);
mavlink_and_console_log_emergency(mavlink_fd, "Excessive offsets: %8.4f, %8.4f, %8.4f", (double)sphere_x[cur_mag],
(double)sphere_y[cur_mag], (double)sphere_z[cur_mag]);