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Add SENS_MAG_ID parameter

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Record devid to SENS_MAG_ID during mag calibration
Verify devid matches SENS_MAG_ID during preflight_check
This commit is contained in:
hauptmech
2015-01-08 12:38:33 +13:00
committed by Lorenz Meier
parent 6899a516b3
commit e18e5ca5b5
5 changed files with 31 additions and 1 deletions
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src/modules/commander/mag_calibration.cpp
+7
View File
@@ -65,6 +65,7 @@ static const char *sensor_name = "mag";
int do_mag_calibration(int mavlink_fd)
{
int32_t device_id;
mavlink_log_info(mavlink_fd, CAL_STARTED_MSG, sensor_name);
mavlink_log_info(mavlink_fd, "don't move system");
@@ -88,6 +89,9 @@ int do_mag_calibration(int mavlink_fd)
/* erase old calibration */
int fd = open(MAG_DEVICE_PATH, O_RDONLY);
device_id = ioctl(fd, DEVIOCGDEVICEID, 0);
res = ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale_null);
if (res != OK) {
@@ -253,6 +257,9 @@ int do_mag_calibration(int mavlink_fd)
if (res == OK) {
/* set parameters */
if (param_set(param_find("SENS_MAG_ID"), &(device_id))) {
res = ERROR;
}
if (param_set(param_find("SENS_MAG_XOFF"), &(mscale.x_offset))) {
res = ERROR;
}
src/modules/sensors/sensor_params.c
+6
View File
@@ -98,6 +98,12 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_YSCALE, 1.0f);
*/
PARAM_DEFINE_FLOAT(SENS_GYRO_ZSCALE, 1.0f);
/**
* ID of Magnetometer the calibration is for.
*
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(SENS_MAG_ID, 0);
/**
* Magnetometer X-axis offset