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accel & gyro calibration helpers

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This commit is contained in:
Daniel Agar
2020-08-21 10:12:13 -04:00
parent bae2589fed
commit e3e8c55e82
35 changed files with 1245 additions and 945 deletions
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src/modules/commander/airspeed_calibration.cpp
+4 -5
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@@ -65,6 +65,8 @@ static void feedback_calibration_failed(orb_advert_t *mavlink_log_pub)
int do_airspeed_calibration(orb_advert_t *mavlink_log_pub)
{
const hrt_abstime calibration_started = hrt_absolute_time();
int result = PX4_OK;
unsigned calibration_counter = 0;
const unsigned maxcount = 2400;
@@ -99,8 +101,6 @@ int do_airspeed_calibration(orb_advert_t *mavlink_log_pub)
px4_close(fd);
}
int cancel_sub = calibrate_cancel_subscribe();
if (!paramreset_successful) {
/* only warn if analog scaling is zero */
@@ -124,7 +124,7 @@ int do_airspeed_calibration(orb_advert_t *mavlink_log_pub)
while (calibration_counter < calibration_count) {
if (calibrate_cancel_check(mavlink_log_pub, cancel_sub)) {
if (calibrate_cancel_check(mavlink_log_pub, calibration_started)) {
goto error_return;
}
@@ -206,7 +206,7 @@ int do_airspeed_calibration(orb_advert_t *mavlink_log_pub)
/* just take a few samples and make sure pitot tubes are not reversed, timeout after ~30 seconds */
while (calibration_counter < maxcount) {
if (calibrate_cancel_check(mavlink_log_pub, cancel_sub)) {
if (calibrate_cancel_check(mavlink_log_pub, calibration_started)) {
goto error_return;
}
@@ -279,7 +279,6 @@ int do_airspeed_calibration(orb_advert_t *mavlink_log_pub)
px4_usleep(2e6);
normal_return:
calibrate_cancel_unsubscribe(cancel_sub);
px4_close(diff_pres_sub);
// This give a chance for the log messages to go out of the queue before someone else stomps on then