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commander: add simple accelerometer quick calibration

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This commit is contained in:
Daniel Agar
2020-08-13 16:59:37 -04:00
parent e3e8c55e82
commit d92ddffa5d
4 changed files with 157 additions and 4 deletions
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src/modules/commander/Commander.cpp
+16 -3
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@@ -261,11 +261,18 @@ extern "C" __EXPORT int commander_main(int argc, char *argv[])
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")) {
// accelerometer calibration: param5 = 1
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 0.f, 0.f, 0.f, 1.f, 0.f, 0.f);
if (argc > 3 && (strcmp(argv[3], "quick") == 0)) {
// accelerometer quick calibration: param5 = 3
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 0.f, 0.f, 0.f, 4.f, 0.f, 0.f);
} else {
// accelerometer calibration: param5 = 1
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 0.f, 0.f, 0.f, 1.f, 0.f, 0.f);
}
} else if (!strcmp(argv[2], "level")) {
// board level calibration: param5 = 1
// board level calibration: param5 = 2
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 0.f, 0.f, 0.f, 2.f, 0.f, 0.f);
} else if (!strcmp(argv[2], "airspeed")) {
@@ -3521,6 +3528,11 @@ void *commander_low_prio_loop(void *arg)
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED, command_ack_pub);
calib_ret = do_level_calibration(&mavlink_log_pub);
} else if ((int)(cmd.param5) == 4) {
// accelerometer quick calibration
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED, command_ack_pub);
calib_ret = do_accel_calibration_quick(&mavlink_log_pub);
} else if ((int)(cmd.param6) == 1 || (int)(cmd.param6) == 2) {
// TODO: param6 == 1 is deprecated, but we still accept it for a while (feb 2017)
/* airspeed calibration */
@@ -4243,6 +4255,7 @@ The commander module contains the state machine for mode switching and failsafe
#ifndef CONSTRAINED_FLASH
PRINT_MODULE_USAGE_COMMAND_DESCR("calibrate", "Run sensor calibration");
PRINT_MODULE_USAGE_ARG("mag|accel|gyro|level|esc|airspeed", "Calibration type", false);
PRINT_MODULE_USAGE_ARG("quick", "Quick calibration (accel only, not recommended)", false);
PRINT_MODULE_USAGE_COMMAND_DESCR("check", "Run preflight checks");
PRINT_MODULE_USAGE_COMMAND("arm");
PRINT_MODULE_USAGE_PARAM_FLAG('f', "Force arming (do not run preflight checks)", true);