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accelerometer_calibration: cleanup

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Beat Küng 2017-01-25 14:53:44 +01:00 committed by Lorenz Meier
parent 69fd8447ae
commit d0ea4e8876
1 changed files with 4 additions and 6 deletions
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10
src/modules/commander/accelerometer_calibration.cpp
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@ -320,11 +320,10 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
int32_t handle;
float val;
for (unsigned axis_index = 0; axis_index < 3; axis_index++) {
handle = -1;
val = 0.0f;
(void)sprintf(str, "TC_A%u_X0_%u", sensor_correction.accel_mapping[uorb_index], axis_index);
handle = param_find(str);
param_get(handle, &(val));
param_get(handle, &val);
if (axis_index == 0) {
val += accel_scale.x_offset;
} else if (axis_index == 1) {
@ -332,14 +331,13 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
} else if (axis_index == 2) {
val += accel_scale.z_offset;
}
failed |= (PX4_OK != param_set_no_notification(param_find(str), &(val)));
failed |= (PX4_OK != param_set_no_notification(handle, &val));
}
for (unsigned axis_index = 0; axis_index < 3; axis_index++) {
handle = -1;
val = 1.0f;
(void)sprintf(str, "TC_A%u_SCL_%u", sensor_correction.accel_mapping[uorb_index], axis_index);
handle = param_find(str);
param_get(handle, &(val));
param_get(handle, &val);
if (axis_index == 0) {
val *= accel_scale.x_scale;
} else if (axis_index == 1) {
@ -347,7 +345,7 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
} else if (axis_index == 2) {
val *= accel_scale.z_scale;
}
failed |= (PX4_OK != param_set_no_notification(param_find(str), &(val)));
failed |= (PX4_OK != param_set_no_notification(handle, &val));
}
// Ensure the calibration values used the driver are at default settings