fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

commander: gyro calibration use all queued data

Browse Source 
- print calibration status when finished
This commit is contained in:
Daniel Agar 2020-08-17 16:15:35 -04:00
parent f2c9865c9b
commit f9aca05ede
1 changed files with 3 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
src/modules/commander/gyro_calibration.cpp
View File

@ -130,7 +130,7 @@ static calibrate_return gyro_calibration_worker(gyro_worker_data_t &worker_data)
sensor_gyro_s gyro_report;
if (gyro_sub[gyro_index].update(&gyro_report)) {
while (gyro_sub[gyro_index].update(&gyro_report)) {
// fetch optional thermal offset corrections in sensor/board frame
Vector3f offset{0, 0, 0};
@ -298,6 +298,8 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
if (calibration.device_id() != 0) {
calibration.set_offset(worker_data.offset[uorb_index]);
calibration.PrintStatus();
} else {
calibration.Reset();
}