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

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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/accelerometer_calibration.cpp
+12
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@@ -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) {