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Store primary sensor ID to allow cross-check of calibration on next boot

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This commit is contained in:
Lorenz Meier
2015-09-27 14:13:39 +02:00
parent a7c6a343c6
commit e5bb1cff91
4 changed files with 101 additions and 5 deletions
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src/modules/commander/PreflightCheck.cpp
+62 -5
View File
@@ -110,7 +110,7 @@ int check_calibration(int fd, const char* param_template)
return !calibration_found;
}
static bool magnometerCheck(int mavlink_fd, unsigned instance, bool optional)
static bool magnometerCheck(int mavlink_fd, unsigned instance, bool optional, int &device_id)
{
bool success = true;
@@ -338,50 +338,107 @@ bool preflightCheck(int mavlink_fd, bool checkMag, bool checkAcc, bool checkGyro
/* ---- MAG ---- */
if (checkMag) {
bool prime_found = false;
int32_t prime_id = 0;
param_get(param_find("CAL_MAG_PRIME"), &prime_id);
/* check all sensors, but fail only for mandatory ones */
for (unsigned i = 0; i < max_optional_mag_count; i++) {
bool required = (i < max_mandatory_mag_count);
int device_id;
if (!magnometerCheck(mavlink_fd, i, !required) && required) {
if (!magnometerCheck(mavlink_fd, i, !required, device_id) && required) {
failed = true;
}
if (device_id == prime_id) {
prime_found = true;
}
}
/* check if the primary device is present */
if (!prime_found) {
//failed = true;
}
}
/* ---- ACCEL ---- */
if (checkAcc) {
bool prime_found = false;
int32_t prime_id = 0;
param_get(param_find("CAL_ACC_PRIME"), &prime_id);
/* check all sensors, but fail only for mandatory ones */
for (unsigned i = 0; i < max_optional_accel_count; i++) {
bool required = (i < max_mandatory_accel_count);
int device_id
if (!accelerometerCheck(mavlink_fd, i, !required, checkDynamic) && required) {
if (!accelerometerCheck(mavlink_fd, i, !required, checkDynamic, device_id) && required) {
failed = true;
}
if (device_id == prime_id) {
prime_found = true;
}
}
/* check if the primary device is present */
if (!prime_found) {
//failed = true;
}
}
/* ---- GYRO ---- */
if (checkGyro) {
bool prime_found = false;
int32_t prime_id = 0;
param_get(param_find("CAL_GYRO_PRIME"), &prime_id);
/* check all sensors, but fail only for mandatory ones */
for (unsigned i = 0; i < max_optional_gyro_count; i++) {
bool required = (i < max_mandatory_gyro_count);
int device_id;
if (!gyroCheck(mavlink_fd, i, !required) && required) {
if (!gyroCheck(mavlink_fd, i, !required, device_id) && required) {
failed = true;
}
if (device_id == prime_id) {
prime_found = true;
}
}
/* check if the primary device is present */
if (!prime_found) {
//failed = true;
}
}
/* ---- BARO ---- */
if (checkBaro) {
bool prime_found = false;
int32_t prime_id = 0;
param_get(param_find("CAL_BARO_PRIME"), &prime_id);
/* check all sensors, but fail only for mandatory ones */
for (unsigned i = 0; i < max_optional_baro_count; i++) {
bool required = (i < max_mandatory_baro_count);
int device_id;
if (!baroCheck(mavlink_fd, i, !required) && required) {
if (!baroCheck(mavlink_fd, i, !required, device_id) && required) {
failed = true;
}
if (device_id == prime_id) {
prime_found = true;
}
}
// TODO there is no logic in place to calibrate the primary baro yet
// // check if the primary device is present
// if (!prime_found) {
// failed = true;
// }
}
/* ---- AIRSPEED ---- */
src/modules/commander/accelerometer_calibration.cpp
+12
View File
@@ -173,6 +173,8 @@ int do_accel_calibration(int mavlink_fd)
{
int fd;
int32_t device_id[max_accel_sens];
int device_prio_max = 0;
int32_t device_id_primary = 0;
mavlink_and_console_log_info(mavlink_fd, CAL_QGC_STARTED_MSG, sensor_name);
@@ -259,6 +261,8 @@ int do_accel_calibration(int mavlink_fd)
bool failed = false;
failed = failed || (OK != param_set_no_notification("CAL_ACC_PRIME", &(device_id_primary)));
/* set parameters */
(void)sprintf(str, "CAL_ACC%u_XOFF", i);
failed |= (OK != param_set_no_notification(param_find(str), &(accel_scale.x_offset)));
@@ -370,6 +374,14 @@ calibrate_return do_accel_calibration_measurements(int mavlink_fd, float (&accel
struct accel_report arp = {};
(void)orb_copy(ORB_ID(sensor_accel), worker_data.subs[i], &arp);
timestamps[i] = arp.timestamp;
// Get priority
int32_t prio = orb_priority(work_data.subs[i]);
if (prio > device_prio_max) {
device_prio_max = prio;
device_id_primary = device_id[i];
}
}
if (result == calibrate_return_ok) {
src/modules/commander/gyro_calibration.cpp
+14
View File
@@ -168,6 +168,9 @@ int do_gyro_calibration(int mavlink_fd)
1.0f, // z scale
};
int device_prio_max = 0;
int32_t device_id_primary = 0;
for (unsigned s = 0; s < max_gyros; s++) {
char str[30];
@@ -199,6 +202,14 @@ int do_gyro_calibration(int mavlink_fd)
for (unsigned s = 0; s < max_gyros; s++) {
worker_data.gyro_sensor_sub[s] = orb_subscribe_multi(ORB_ID(sensor_gyro), s);
// Get priority
int32_t prio = orb_priority(work_data.gyro_sensor_subs[s]);
if (prio > device_prio_max) {
device_prio_max = prio;
device_id_primary = worker_data.device_id[s];
}
}
int cancel_sub = calibrate_cancel_subscribe();
@@ -258,9 +269,12 @@ int do_gyro_calibration(int mavlink_fd)
}
if (res == OK) {
/* set offset parameters to new values */
bool failed = false;
failed = failed || (OK != param_set_no_notification("CAL_GYRO_PRIME", &(device_id_primary)));
for (unsigned s = 0; s < max_gyros; s++) {
if (worker_data.device_id[s] != 0) {
char str[30];
src/modules/commander/mag_calibration.cpp
+13
View File
@@ -109,6 +109,8 @@ int do_mag_calibration(int mavlink_fd)
// Determine which mags are available and reset each
int32_t device_ids[max_mags];
int device_prio_max = 0;
int32_t device_id_primary = 0;
char str[30];
for (size_t i=0; i<max_mags; i++) {
@@ -434,6 +436,14 @@ calibrate_return mag_calibrate_all(int mavlink_fd, int32_t (&device_ids)[max_mag
result = calibrate_return_error;
break;
}
// Get priority
int32_t prio = orb_priority(work_data.sub_mag[cur_mag]);
if (prio > device_prio_max) {
device_prio_max = prio;
device_id_primary = device_ids[cur_mag];
}
}
}
}
@@ -550,6 +560,9 @@ calibrate_return mag_calibrate_all(int mavlink_fd, int32_t (&device_ids)[max_mag
}
if (result == calibrate_return_ok) {
(void)param_set_no_notification("CAL_MAG_PRIME", &(device_id_primary));
for (unsigned cur_mag=0; cur_mag<max_mags; cur_mag++) {
if (device_ids[cur_mag] != 0) {
int fd_mag = -1;