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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
2015-01-17 18:41:43 +01:00
committed by Lorenz Meier
parent 6899a516b3
commit e18e5ca5b5
5 changed files with 31 additions and 1 deletions
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src/systemcmds/config/config.c
+5 -1
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@@ -58,6 +58,7 @@
#include "systemlib/systemlib.h"
#include "systemlib/err.h"
#include "systemlib/param/param.h"
__EXPORT int config_main(int argc, char *argv[]);
@@ -264,8 +265,11 @@ do_mag(int argc, char *argv[])
int srate = ioctl(fd, MAGIOCGSAMPLERATE, 0);
int prate = ioctl(fd, SENSORIOCGPOLLRATE, 0);
int range = ioctl(fd, MAGIOCGRANGE, 0);
int id = ioctl(fd, DEVIOCGDEVICEID,0);
int32_t calibration_id = 0;
param_get(param_find("SENS_MAG_ID"), &(calibration_id));
warnx("mag: \n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d Ga", srate, prate, range);
warnx("mag: \n\tdevice id:\t%x\t(calibration is for device id %x)\n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d Ga", id, calibration_id, srate, prate, range);
close(fd);
}