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A lot more on calibration and RC checks. Needs more testing, but no known issues

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This commit is contained in:
Lorenz Meier
2013-08-25 16:33:14 +02:00
parent 8df6acbfaf
commit e119bbb0f1
10 changed files with 246 additions and 141 deletions
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src/modules/commander/accelerometer_calibration.cpp
+15 -3
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@@ -136,6 +136,7 @@ int calculate_calibration_values(float accel_ref[6][3], float accel_T[3][3], flo
int do_accel_calibration(int mavlink_fd) {
/* announce change */
mavlink_log_info(mavlink_fd, "accel calibration started");
mavlink_log_info(mavlink_fd, "accel cal progress <0> percent");
/* measure and calculate offsets & scales */
float accel_offs[3];
@@ -211,17 +212,28 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float
}
int sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined));
unsigned done_count = 0;
while (true) {
bool done = true;
char str[80];
char str[60];
int str_ptr;
str_ptr = sprintf(str, "keep vehicle still:");
unsigned old_done_count = done_count;
done_count = 0;
for (int i = 0; i < 6; i++) {
if (!data_collected[i]) {
str_ptr += sprintf(&(str[str_ptr]), " %s", orientation_strs[i]);
done = false;
} else {
done_count++;
}
}
if (old_done_count != done_count)
mavlink_log_info(mavlink_fd, "accel cal progress <%u> percent", 17 * done_count);
if (done)
break;
mavlink_log_info(mavlink_fd, str);
@@ -236,8 +248,8 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float
continue;
}
sprintf(str, "meas started: %s", orientation_strs[orient]);
mavlink_log_info(mavlink_fd, str);
// sprintf(str,
mavlink_log_info(mavlink_fd, "accel meas started: %s", orientation_strs[orient]);
read_accelerometer_avg(sensor_combined_sub, &(accel_ref[orient][0]), samples_num);
str_ptr = sprintf(str, "meas result for %s: [ %.2f %.2f %.2f ]", orientation_strs[orient],
(double)accel_ref[orient][0],