fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-07 08:10:35 +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/systemcmds/config/config.c
+61 -2
View File
@@ -129,7 +129,19 @@ do_gyro(int argc, char *argv[])
ioctl(fd, GYROIOCSRANGE, i);
}
} else if (!(argc > 0 && !strcmp(argv[0], "info"))) {
} else if (argc > 0) {
if(!strcmp(argv[0], "check")) {
int ret = ioctl(fd, GYROIOCSELFTEST, 0);
if (ret) {
warnx("gyro self test FAILED! Check calibration.");
} else {
warnx("gyro calibration and self test OK");
}
}
} else {
warnx("no arguments given. Try: \n\n\t'sampling 500' to set sampling to 500 Hz\n\t'rate 500' to set publication rate to 500 Hz\n\t'range 2000' to set measurement range to 2000 dps\n\t");
}
@@ -148,6 +160,41 @@ do_gyro(int argc, char *argv[])
static void
do_mag(int argc, char *argv[])
{
int fd;
fd = open(MAG_DEVICE_PATH, 0);
if (fd < 0) {
warn("%s", MAG_DEVICE_PATH);
errx(1, "FATAL: no magnetometer found");
} else {
if (argc > 0) {
if (!strcmp(argv[0], "check")) {
int ret = ioctl(fd, MAGIOCSELFTEST, 0);
if (ret) {
warnx("mag self test FAILED! Check calibration.");
} else {
warnx("mag calibration and self test OK");
}
}
} else {
warnx("no arguments given. Try: \n\n\t'check' or 'info'\n\t");
}
int srate = -1;//ioctl(fd, MAGIOCGSAMPLERATE, 0);
int prate = ioctl(fd, SENSORIOCGPOLLRATE, 0);
int range = -1;//ioctl(fd, MAGIOCGRANGE, 0);
warnx("mag: \n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d gauss", srate, prate, range);
close(fd);
}
exit(0);
}
@@ -183,7 +230,19 @@ do_accel(int argc, char *argv[])
/* set the range to i dps */
ioctl(fd, ACCELIOCSRANGE, i);
}
} else if (!(argc > 0 && !strcmp(argv[0], "info"))) {
} else if (argc > 0) {
if (!strcmp(argv[0], "check")) {
int ret = ioctl(fd, ACCELIOCSELFTEST, 0);
if (ret) {
warnx("accel self test FAILED! Check calibration.");
} else {
warnx("accel calibration and self test OK");
}
}
} else {
warnx("no arguments given. Try: \n\n\t'sampling 500' to set sampling to 500 Hz\n\t'rate 500' to set publication rate to 500 Hz\n\t'range 2' to set measurement range to 2 G\n\t");
}