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Make instructions in commander more obvious for airspeed calibration

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Lorenz Meier
2014-07-14 08:32:51 +02:00
parent ec8d395a2d
commit 9ce7820e41
1 changed files with 12 additions and 3 deletions
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src/modules/commander/airspeed_calibration.cpp
+12 -3
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@@ -180,15 +180,16 @@ int do_airspeed_calibration(int mavlink_fd)
return ERROR; return ERROR;
} }
mavlink_log_critical(mavlink_fd, "Stored offset of %d Pa", (int)diff_pres_offset); mavlink_log_critical(mavlink_fd, "Offset of %d Pa, create airflow now!", (int)diff_pres_offset);
/* wait 500 ms to ensure parameter propagated through the system */ /* wait 500 ms to ensure parameter propagated through the system */
usleep(500 * 1000); usleep(500 * 1000);
calibration_counter = 0; calibration_counter = 0;
const int maxcount = 3000;
/* just take a few samples and make sure pitot tubes are not reversed, timeout after ~30 seconds */ /* just take a few samples and make sure pitot tubes are not reversed, timeout after ~30 seconds */
while (calibration_counter < 1500) { while (calibration_counter < maxcount) {
/* wait blocking for new data */ /* wait blocking for new data */
struct pollfd fds[1]; struct pollfd fds[1];
@@ -204,7 +205,7 @@ int do_airspeed_calibration(int mavlink_fd)
if (fabsf(diff_pres.differential_pressure_raw_pa) < 50.0f) { if (fabsf(diff_pres.differential_pressure_raw_pa) < 50.0f) {
if (calibration_counter % 100 == 0) { if (calibration_counter % 100 == 0) {
mavlink_log_critical(mavlink_fd, "Create airflow on pitot (%d Pa, #h101)", mavlink_log_critical(mavlink_fd, "Missing airflow! (%d, wanted: 50 Pa, #h101)",
(int)diff_pres.differential_pressure_raw_pa); (int)diff_pres.differential_pressure_raw_pa);
} }
continue; continue;
@@ -212,6 +213,8 @@ int do_airspeed_calibration(int mavlink_fd)
/* do not allow negative values */ /* do not allow negative values */
if (diff_pres.differential_pressure_raw_pa < 0.0f) { if (diff_pres.differential_pressure_raw_pa < 0.0f) {
mavlink_log_info(mavlink_fd, "negative pressure: ERROR (%d Pa)",
(int)diff_pres.differential_pressure_raw_pa);
mavlink_log_critical(mavlink_fd, "%d Pa: swap static and dynamic ports!", (int)diff_pres.differential_pressure_raw_pa); mavlink_log_critical(mavlink_fd, "%d Pa: swap static and dynamic ports!", (int)diff_pres.differential_pressure_raw_pa);
close(diff_pres_sub); close(diff_pres_sub);
@@ -246,6 +249,12 @@ int do_airspeed_calibration(int mavlink_fd)
} }
} }
if (calibration_counter == maxcount) {
mavlink_log_critical(mavlink_fd, CAL_FAILED_MSG, sensor_name);
close(diff_pres_sub);
return ERROR;
}
mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 100); mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 100);
mavlink_log_info(mavlink_fd, CAL_DONE_MSG, sensor_name); mavlink_log_info(mavlink_fd, CAL_DONE_MSG, sensor_name);