From 99921db5cfbb5bcde4a4bf6134a895dbb2a25a2a Mon Sep 17 00:00:00 2001 From: David Sidrane Date: Thu, 19 Nov 2015 15:34:51 -1000 Subject: [PATCH] Temporary (or not) fix calibration failure due Due to the uOrb publishing rate difference beteen the mpu9250 driver and the mpu6000 driver on the ICM-20608-G. The latter driver has an integrator output the limit the publishing rate --- src/modules/commander/gyro_calibration.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/commander/gyro_calibration.cpp b/src/modules/commander/gyro_calibration.cpp index 1fcd48b088..a18a13dfa0 100644 --- a/src/modules/commander/gyro_calibration.cpp +++ b/src/modules/commander/gyro_calibration.cpp @@ -137,7 +137,7 @@ static calibrate_return gyro_calibration_worker(int cancel_sub, void* data) } for (unsigned s = 0; s < max_gyros; s++) { - if (worker_data->device_id[s] != 0 && calibration_counter[s] < calibration_count / 2) { + if (worker_data->device_id[s] != 0 && calibration_counter[s] < calibration_count / 4) { mavlink_and_console_log_critical(worker_data->mavlink_fd, "[cal] ERROR: missing data, sensor %d", s) return calibrate_return_error; }