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drivers: re-use calibration topic

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E.g. instead of defining a gyro_scale struct in drv_gyro.h, use the
gyro_calibration message.
This commit is contained in:
Julian Oes
2016-03-24 13:08:30 +01:00
parent 98e407696e
commit b9cc0b74e2
16 changed files with 343 additions and 129 deletions
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src/modules/commander/accelerometer_calibration.cpp
+7 -8
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@@ -181,14 +181,13 @@ int do_accel_calibration(int mavlink_fd)
mavlink_and_console_log_info(mavlink_fd, CAL_QGC_STARTED_MSG, sensor_name);
struct accel_scale accel_scale = {
0.0f,
1.0f,
0.0f,
1.0f,
0.0f,
1.0f,
};
struct accel_calibration_s accel_scale;
accel_scale.x_offset = 0.0f;
accel_scale.x_scale = 1.0f;
accel_scale.y_offset = 0.0f;
accel_scale.y_scale = 1.0f;
accel_scale.z_offset = 0.0f;
accel_scale.z_scale = 1.0f;
int res = OK;
src/modules/commander/gyro_calibration.cpp
+9 -10
View File
@@ -73,7 +73,7 @@ typedef struct {
int mavlink_fd;
int32_t device_id[max_gyros];
int gyro_sensor_sub[max_gyros];
struct gyro_scale gyro_scale[max_gyros];
struct gyro_calibration_s gyro_scale[max_gyros];
struct gyro_report gyro_report_0;
} gyro_worker_data_t;
@@ -159,14 +159,13 @@ int do_gyro_calibration(int mavlink_fd)
worker_data.mavlink_fd = mavlink_fd;
struct gyro_scale gyro_scale_zero = {
0.0f, // x offset
1.0f, // x scale
0.0f, // y offset
1.0f, // y scale
0.0f, // z offset
1.0f, // z scale
};
struct gyro_calibration_s gyro_scale_zero;
gyro_scale_zero.x_offset = 0.0f;
gyro_scale_zero.x_scale = 1.0f;
gyro_scale_zero.y_offset = 0.0f;
gyro_scale_zero.y_scale = 1.0f;
gyro_scale_zero.z_offset = 0.0f;
gyro_scale_zero.z_scale = 1.0f;
int device_prio_max = 0;
int32_t device_id_primary = 0;
@@ -192,7 +191,7 @@ int do_gyro_calibration(int mavlink_fd)
#endif
// Reset all offsets to 0 and scales to 1
(void)memcpy(&worker_data.gyro_scale[s], &gyro_scale_zero, sizeof(gyro_scale));
(void)memcpy(&worker_data.gyro_scale[s], &gyro_scale_zero, sizeof(gyro_scale_zero));
#ifndef __PX4_QURT
sprintf(str, "%s%u", GYRO_BASE_DEVICE_PATH, s);
int fd = px4_open(str, 0);
src/modules/commander/mag_calibration.cpp
+8 -9
View File
@@ -103,14 +103,13 @@ int do_mag_calibration(int mavlink_fd)
mavlink_and_console_log_info(mavlink_fd, CAL_QGC_STARTED_MSG, sensor_name);
#ifndef __PX4_QURT
struct mag_scale mscale_null = {
0.0f,
1.0f,
0.0f,
1.0f,
0.0f,
1.0f,
};
struct mag_calibration_s mscale_null;
mscale_null.x_offset = 0.0f;
mscale_null.x_scale = 1.0f;
mscale_null.y_offset = 0.0f;
mscale_null.y_scale = 1.0f;
mscale_null.z_offset = 0.0f;
mscale_null.z_scale = 1.0f;
#endif
int result = OK;
@@ -595,7 +594,7 @@ calibrate_return mag_calibrate_all(int mavlink_fd, int32_t (&device_ids)[max_mag
for (unsigned cur_mag=0; cur_mag<max_mags; cur_mag++) {
if (device_ids[cur_mag] != 0) {
int fd_mag = -1;
struct mag_scale mscale;
struct mag_calibration_s mscale;
// Set new scale