fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-21 14:27:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'sensor_selftests'

Browse Source
This commit is contained in:
Lorenz Meier
2013-08-19 22:51:30 +02:00
parent d90345a166 dccdc977d5
commit deb426b660
4 changed files with 174 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/accelerometer_calibration.c
+13 -1
View File
@@ -226,6 +226,12 @@ int do_accel_calibration_mesurements(int mavlink_fd, float accel_offs[3], float
if (orient < 0)
return ERROR;
if (data_collected[orient]) {
sprintf(str, "%s direction already measured, please rotate", orientation_strs[orient]);
mavlink_log_info(mavlink_fd, str);
continue;
}
sprintf(str, "meas started: %s", orientation_strs[orient]);
mavlink_log_info(mavlink_fd, str);
read_accelerometer_avg(sensor_combined_sub, &(accel_ref[orient][0]), samples_num);
@@ -380,6 +386,8 @@ int read_accelerometer_avg(int sensor_combined_sub, float accel_avg[3], int samp
int count = 0;
float accel_sum[3] = { 0.0f, 0.0f, 0.0f };
int errcount = 0;
while (count < samples_num) {
int poll_ret = poll(fds, 1, 1000);
if (poll_ret == 1) {
@@ -389,8 +397,12 @@ int read_accelerometer_avg(int sensor_combined_sub, float accel_avg[3], int samp
accel_sum[i] += sensor.accelerometer_m_s2[i];
count++;
} else {
return ERROR;
errcount++;
continue;
}
if (errcount > samples_num / 10)
return ERROR;
}
for (int i = 0; i < 3; i++) {