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df_mpu9250_wrapper: reset calibration if no params

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This commit is contained in:
Julian Oes
2016-03-24 13:08:31 +01:00
parent 10ce1c19a2
commit a6af53bcb4
1 changed files with 21 additions and 0 deletions
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src/platforms/posix/drivers/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp
+21
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@@ -289,7 +289,17 @@ void DfMpu9250Wrapper::_update_gyro_calibration()
if (res != OK) { if (res != OK) {
PX4_ERR("Could not access param %s", str); PX4_ERR("Could not access param %s", str);
} }
// We got calibration values, let's exit.
return;
} }
_gyro_calibration.x_scale = 1.0f;
_gyro_calibration.y_scale = 1.0f;
_gyro_calibration.z_scale = 1.0f;
_gyro_calibration.x_offset = 0.0f;
_gyro_calibration.y_offset = 0.0f;
_gyro_calibration.z_offset = 0.0f;
} }
void DfMpu9250Wrapper::_update_accel_calibration() void DfMpu9250Wrapper::_update_accel_calibration()
@@ -354,7 +364,18 @@ void DfMpu9250Wrapper::_update_accel_calibration()
if (res != OK) { if (res != OK) {
PX4_ERR("Could not access param %s", str); PX4_ERR("Could not access param %s", str);
} }
// We got calibration values, let's exit.
return;
} }
// Set sane default calibration values
_accel_calibration.x_scale = 1.0f;
_accel_calibration.y_scale = 1.0f;
_accel_calibration.z_scale = 1.0f;
_accel_calibration.x_offset = 0.0f;
_accel_calibration.y_offset = 0.0f;
_accel_calibration.z_offset = 0.0f;
} }
int DfMpu9250Wrapper::_publish(struct imu_sensor_data &data) int DfMpu9250Wrapper::_publish(struct imu_sensor_data &data)