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Sensor cal rework

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- cancel support
- versioned cal messages
- better still detection
- better messaging
This commit is contained in:
Don Gagne
2015-04-25 12:37:43 -07:00
committed by Lorenz Meier
parent ecbff2885c
commit a7f88d97b8
9 changed files with 573 additions and 431 deletions
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src/modules/commander/commander.cpp
+17 -20
View File
@@ -2723,36 +2723,33 @@ void *commander_low_prio_loop(void *arg)
/* enable RC control input */
status.rc_input_blocked = false;
mavlink_log_info(mavlink_fd, "CAL: Re-enabling RC IN");
calib_ret = OK;
}
/* this always succeeds */
calib_ret = OK;
}
if (calib_ret == OK) {
tune_positive(true);
// Update preflight check status
// we do not set the calibration return value based on it because the calibration
// might have worked just fine, but the preflight check fails for a different reason,
// so this would be prone to false negatives.
bool checkAirspeed = false;
/* Perform airspeed check only if circuit breaker is not
* engaged and it's not a rotary wing */
if (!status.circuit_breaker_engaged_airspd_check && !status.is_rotary_wing) {
checkAirspeed = true;
}
status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, true);
arming_state_transition(&status, &safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed, true /* fRunPreArmChecks */, mavlink_fd);
} else {
tune_negative(true);
}
// Update preflight check status
// we do not set the calibration return value based on it because the calibration
// might have worked just fine, but the preflight check fails for a different reason,
// so this would be prone to false negatives.
bool checkAirspeed = false;
/* Perform airspeed check only if circuit breaker is not
* engaged and it's not a rotary wing */
if (!status.circuit_breaker_engaged_airspd_check && !status.is_rotary_wing) {
checkAirspeed = true;
}
status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, true);
arming_state_transition(&status, &safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed, true /* fRunPreArmChecks */, mavlink_fd);
break;
}