fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-29 22:20:40 +08:00
Code Issues Packages Projects Releases Wiki Activity

commander: mag calibration add simple offset only quick cal using GPS & attitude

Browse Source
This commit is contained in:
Daniel Agar
2020-06-30 22:37:08 -04:00
parent f6ad9bdb64
commit c76cdaf8a8
4 changed files with 99 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/Commander.cpp
+13 -2
View File
@@ -257,8 +257,14 @@ extern "C" __EXPORT int commander_main(int argc, char *argv[])
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 1.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f);
} else if (!strcmp(argv[2], "mag")) {
// magnetometer calibration: param2 = 1
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 1.f, 0.f, 0.f, 0.f, 0.f, 0.f);
if (argc > 3 && (strcmp(argv[3], "quick") == 0)) {
// magnetometer quick calibration: param2 = 2
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 2.f, 0.f, 0.f, 0.f, 0.f, 0.f);
} else {
// magnetometer calibration: param2 = 1
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 1.f, 0.f, 0.f, 0.f, 0.f, 0.f);
}
} else if (!strcmp(argv[2], "accel")) {
if (argc > 3 && (strcmp(argv[3], "quick") == 0)) {
@@ -3507,6 +3513,11 @@ void *commander_low_prio_loop(void *arg)
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED, command_ack_pub);
calib_ret = do_mag_calibration(&mavlink_log_pub);
} else if ((int)(cmd.param2) == 2) {
/* magnetometer calibration quick (requires GPS & attitude) */
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED, command_ack_pub);
calib_ret = do_mag_calibration_quick(&mavlink_log_pub);
} else if ((int)(cmd.param3) == 1) {
/* zero-altitude pressure calibration */
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_DENIED, command_ack_pub);