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commander: Support commandline sensor calibration

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Lorenz Meier
2015-02-09 13:56:53 +01:00
parent 22d80a80f4
commit d3dd4a21e2
2 changed files with 27 additions and 4 deletions
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src/modules/commander/commander.cpp
+26 -3
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2013-2014 PX4 Development Team. All rights reserved.
* Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -36,7 +36,7 @@
* Main fail-safe handling.
*
* @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Lorenz Meier <lorenz@px4.io>
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <julian@oes.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
@@ -318,6 +318,29 @@ int commander_main(int argc, char *argv[])
exit(0);
}
if (!strcmp(argv[1], "calibrate")) {
if (argc > 2) {
int calib_ret = OK;
if (!strcmp(argv[2], "mag")) {
calib_ret = do_mag_calibration(mavlink_fd);
} else if (!strcmp(argv[2], "accel")) {
calib_ret = do_accel_calibration(mavlink_fd);
} else if (!strcmp(argv[2], "gyro")) {
calib_ret = do_gyro_calibration(mavlink_fd);
} else {
warnx("argument %s unsupported.", argv[2]);
}
if (calib_ret) {
errx(1, "calibration failed, exiting.");
} else {
exit(0);
}
} else {
warnx("missing argument");
}
}
if (!strcmp(argv[1], "check")) {
int mavlink_fd_local = open(MAVLINK_LOG_DEVICE, 0);
int checkres = prearm_check(&status, mavlink_fd_local);
@@ -350,7 +373,7 @@ void usage(const char *reason)
fprintf(stderr, "%s\n", reason);
}
fprintf(stderr, "usage: daemon {start|stop|status} [-p <additional params>]\n\n");
fprintf(stderr, "usage: commander {start|stop|status|calibrate|check|arm|disarm}\n\n");
exit(1);
}