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gyro_calibration: use param_notify_changes

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Beat Küng
2017-02-03 13:57:48 +01:00
committed by Lorenz Meier
parent 3eecd16309
commit b89b76fbe6
1 changed files with 9 additions and 13 deletions
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src/modules/commander/gyro_calibration.cpp
+9 -13
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@@ -242,35 +242,36 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
} }
#else #else
(void)sprintf(str, "CAL_GYRO%u_XOFF", s); (void)sprintf(str, "CAL_GYRO%u_XOFF", s);
res = param_set(param_find(str), &gyro_scale_zero.x_offset); res = param_set_no_notification(param_find(str), &gyro_scale_zero.x_offset);
if (res != PX4_OK) { if (res != PX4_OK) {
PX4_ERR("unable to reset %s", str); PX4_ERR("unable to reset %s", str);
} }
(void)sprintf(str, "CAL_GYRO%u_YOFF", s); (void)sprintf(str, "CAL_GYRO%u_YOFF", s);
res = param_set(param_find(str), &gyro_scale_zero.y_offset); res = param_set_no_notification(param_find(str), &gyro_scale_zero.y_offset);
if (res != PX4_OK) { if (res != PX4_OK) {
PX4_ERR("unable to reset %s", str); PX4_ERR("unable to reset %s", str);
} }
(void)sprintf(str, "CAL_GYRO%u_ZOFF", s); (void)sprintf(str, "CAL_GYRO%u_ZOFF", s);
res = param_set(param_find(str), &gyro_scale_zero.z_offset); res = param_set_no_notification(param_find(str), &gyro_scale_zero.z_offset);
if (res != PX4_OK) { if (res != PX4_OK) {
PX4_ERR("unable to reset %s", str); PX4_ERR("unable to reset %s", str);
} }
(void)sprintf(str, "CAL_GYRO%u_XSCALE", s); (void)sprintf(str, "CAL_GYRO%u_XSCALE", s);
res = param_set(param_find(str), &gyro_scale_zero.x_scale); res = param_set_no_notification(param_find(str), &gyro_scale_zero.x_scale);
if (res != PX4_OK) { if (res != PX4_OK) {
PX4_ERR("unable to reset %s", str); PX4_ERR("unable to reset %s", str);
} }
(void)sprintf(str, "CAL_GYRO%u_YSCALE", s); (void)sprintf(str, "CAL_GYRO%u_YSCALE", s);
res = param_set(param_find(str), &gyro_scale_zero.y_scale); res = param_set_no_notification(param_find(str), &gyro_scale_zero.y_scale);
if (res != PX4_OK) { if (res != PX4_OK) {
PX4_ERR("unable to reset %s", str); PX4_ERR("unable to reset %s", str);
} }
(void)sprintf(str, "CAL_GYRO%u_ZSCALE", s); (void)sprintf(str, "CAL_GYRO%u_ZSCALE", s);
res = param_set(param_find(str), &gyro_scale_zero.z_scale); res = param_set_no_notification(param_find(str), &gyro_scale_zero.z_scale);
if (res != PX4_OK) { if (res != PX4_OK) {
PX4_ERR("unable to reset %s", str); PX4_ERR("unable to reset %s", str);
} }
param_notify_changes();
#endif #endif
} }
@@ -401,14 +402,9 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
val += worker_data.gyro_scale[uorb_index].z_offset; val += worker_data.gyro_scale[uorb_index].z_offset;
} }
if (axis_index == 2) { //notify the system about the change, but only once, for the last one failed |= (PX4_OK != param_set_no_notification(handle, &val));
failed |= (PX4_OK != param_set(handle, &val));
} else {
failed |= (PX4_OK != param_set_no_notification(handle, &val));
}
} }
param_notify_changes();
} }
// Ensure the calibration values used the driver are at default settings // Ensure the calibration values used the driver are at default settings