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Improved RC calibration behaviour, fully supported setting trim offsets

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This commit is contained in:
Lorenz Meier
2014-02-01 13:22:52 +01:00
parent 83df116c7a
commit c1d1d67534
6 changed files with 56 additions and 17 deletions
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src/modules/commander/rc_calibration.cpp
+5 -6
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@@ -53,17 +53,16 @@
#endif
static const int ERROR = -1;
int do_rc_calibration(int mavlink_fd)
int do_trim_calibration(int mavlink_fd)
{
mavlink_log_info(mavlink_fd, "trim calibration starting");
int sub_man = orb_subscribe(ORB_ID(manual_control_setpoint));
usleep(200000);
struct manual_control_setpoint_s sp;
bool changed;
orb_check(sub_man, &changed);
if (!changed) {
mavlink_log_critical(mavlink_fd, "no manual control, aborting");
mavlink_log_critical(mavlink_fd, "no inputs, aborting");
return ERROR;
}
@@ -82,12 +81,12 @@ int do_rc_calibration(int mavlink_fd)
int save_ret = param_save_default();
if (save_ret != 0) {
mavlink_log_critical(mavlink_fd, "TRIM CAL: WARN: auto-save of params failed");
mavlink_log_critical(mavlink_fd, "TRIM: SAVE FAIL");
close(sub_man);
return ERROR;
}
mavlink_log_info(mavlink_fd, "trim calibration done");
mavlink_log_info(mavlink_fd, "trim cal done");
close(sub_man);
return OK;
}