fly316/PX4-Autopilot
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Merge remote-tracking branch 'upstream/master' into ros_messagelayer_merge

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Conflicts:
	src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
	src/modules/uORB/topics/vehicle_attitude.h
This commit is contained in:
Thomas Gubler
2015-01-21 14:41:03 +01:00
parent 3a38b0fe35 e8e4a3b5da
commit dcdde8ea88
57 changed files with 2157 additions and 3259 deletions
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src/systemcmds/config/config.c
+5 -1
View File
@@ -58,6 +58,7 @@
#include "systemlib/systemlib.h"
#include "systemlib/err.h"
#include "systemlib/param/param.h"
__EXPORT int config_main(int argc, char *argv[]);
@@ -264,8 +265,11 @@ do_mag(int argc, char *argv[])
int srate = ioctl(fd, MAGIOCGSAMPLERATE, 0);
int prate = ioctl(fd, SENSORIOCGPOLLRATE, 0);
int range = ioctl(fd, MAGIOCGRANGE, 0);
int id = ioctl(fd, DEVIOCGDEVICEID,0);
int32_t calibration_id = 0;
param_get(param_find("SENS_MAG_ID"), &(calibration_id));
warnx("mag: \n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d Ga", srate, prate, range);
warnx("mag: \n\tdevice id:\t%x\t(calibration is for device id %x)\n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d Ga", id, calibration_id, srate, prate, range);
close(fd);
}
src/systemcmds/preflight_check/preflight_check.c
+11
View File
@@ -84,6 +84,7 @@ int preflight_check_main(int argc, char *argv[])
/* open text message output path */
int mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
int ret;
int32_t mag_devid,mag_calibration_devid;
/* give the system some time to sample the sensors in the background */
usleep(150000);
@@ -96,6 +97,16 @@ int preflight_check_main(int argc, char *argv[])
system_ok = false;
goto system_eval;
}
mag_devid = ioctl(fd, DEVIOCGDEVICEID,0);
param_get(param_find("SENS_MAG_ID"), &(mag_calibration_devid));
if (mag_devid != mag_calibration_devid){
warnx("magnetometer calibration is for a different device - calibrate magnetometer first");
mavlink_log_critical(mavlink_fd, "SENSOR FAIL: MAG CAL ID");
system_ok = false;
goto system_eval;
}
ret = ioctl(fd, MAGIOCSELFTEST, 0);
if (ret != OK) {