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accelerometer_calibration: cleanup

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Beat Küng
2017-02-01 08:40:23 +01:00
committed by Lorenz Meier
parent 69fd8447ae
commit d0ea4e8876
1 changed files with 4 additions and 6 deletions
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src/modules/commander/accelerometer_calibration.cpp
+4 -6
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@@ -320,11 +320,10 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
int32_t handle; int32_t handle;
float val; float val;
for (unsigned axis_index = 0; axis_index < 3; axis_index++) { for (unsigned axis_index = 0; axis_index < 3; axis_index++) {
handle = -1;
val = 0.0f; val = 0.0f;
(void)sprintf(str, "TC_A%u_X0_%u", sensor_correction.accel_mapping[uorb_index], axis_index); (void)sprintf(str, "TC_A%u_X0_%u", sensor_correction.accel_mapping[uorb_index], axis_index);
handle = param_find(str); handle = param_find(str);
param_get(handle, &(val)); param_get(handle, &val);
if (axis_index == 0) { if (axis_index == 0) {
val += accel_scale.x_offset; val += accel_scale.x_offset;
} else if (axis_index == 1) { } else if (axis_index == 1) {
@@ -332,14 +331,13 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
} else if (axis_index == 2) { } else if (axis_index == 2) {
val += accel_scale.z_offset; 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++) { for (unsigned axis_index = 0; axis_index < 3; axis_index++) {
handle = -1;
val = 1.0f; val = 1.0f;
(void)sprintf(str, "TC_A%u_SCL_%u", sensor_correction.accel_mapping[uorb_index], axis_index); (void)sprintf(str, "TC_A%u_SCL_%u", sensor_correction.accel_mapping[uorb_index], axis_index);
handle = param_find(str); handle = param_find(str);
param_get(handle, &(val)); param_get(handle, &val);
if (axis_index == 0) { if (axis_index == 0) {
val *= accel_scale.x_scale; val *= accel_scale.x_scale;
} else if (axis_index == 1) { } else if (axis_index == 1) {
@@ -347,7 +345,7 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
} else if (axis_index == 2) { } else if (axis_index == 2) {
val *= accel_scale.z_scale; 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 // Ensure the calibration values used the driver are at default settings