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Split diff pressure and airspeed.

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This commit is contained in:
Simon Wilks
2013-04-19 16:20:40 +02:00
parent c5a453cd18
commit df6976c8d6
7 changed files with 80 additions and 93 deletions
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apps/commander/commander.c
+5 -5
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@@ -801,7 +801,7 @@ void do_airspeed_calibration(int status_pub, struct vehicle_status_s *status)
struct differential_pressure_s differential_pressure;
int calibration_counter = 0;
float airspeed_offset = 0.0f;
float diff_pres_offset = 0.0f;
while (calibration_counter < calibration_count) {
@@ -812,7 +812,7 @@ void do_airspeed_calibration(int status_pub, struct vehicle_status_s *status)
if (poll_ret) {
orb_copy(ORB_ID(differential_pressure), sub_differential_pressure, &differential_pressure);
airspeed_offset += differential_pressure.voltage;
diff_pres_offset += differential_pressure.differential_pressure_pa;
calibration_counter++;
} else if (poll_ret == 0) {
@@ -822,11 +822,11 @@ void do_airspeed_calibration(int status_pub, struct vehicle_status_s *status)
}
}
airspeed_offset = airspeed_offset / calibration_count;
diff_pres_offset = diff_pres_offset / calibration_count;
if (isfinite(airspeed_offset)) {
if (isfinite(diff_pres_offset)) {
if (param_set(param_find("SENS_VAIR_OFF"), &(airspeed_offset))) {
if (param_set(param_find("SENS_VAIR_OFF"), &(diff_pres_offset))) {
mavlink_log_critical(mavlink_fd, "Setting offs failed!");
}