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/**
* @file airspeed_calibration.cpp
* Airspeed sensor calibration routine
*/
#include "airspeed_calibration.h"
#include "commander_helper.h"
#include <stdio.h>
#include <poll.h>
#include <math.h>
#include <drivers/drv_hrt.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/differential_pressure.h>
#include <mavlink/mavlink_log.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;
int do_airspeed_calibration(int mavlink_fd)
{
/* give directions */
mavlink_log_info(mavlink_fd, "airspeed calibration starting, keep it still");
const int calibration_count = 2500;
int diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure));
struct differential_pressure_s diff_pres;
int calibration_counter = 0;
float diff_pres_offset = 0.0f;
while (calibration_counter < calibration_count) {
/* wait blocking for new data */
struct pollfd fds[1];
fds[0].fd = diff_pres_sub;
fds[0].events = POLLIN;
int poll_ret = poll(fds, 1, 1000);
if (poll_ret) {
orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres);
diff_pres_offset += diff_pres.differential_pressure_pa;
calibration_counter++;
} else if (poll_ret == 0) {
/* any poll failure for 1s is a reason to abort */
mavlink_log_info(mavlink_fd, "airspeed calibration aborted");
close(diff_pres_sub);
return ERROR;
}
}
diff_pres_offset = diff_pres_offset / calibration_count;
if (isfinite(diff_pres_offset)) {
if (param_set(param_find("SENS_DPRES_OFF"), &(diff_pres_offset))) {
mavlink_log_critical(mavlink_fd, "Setting offs failed!");
close(diff_pres_sub);
return ERROR;
}
/* auto-save to EEPROM */
int save_ret = param_save_default();
if (save_ret != 0) {
warn("WARNING: auto-save of params to storage failed");
mavlink_log_info(mavlink_fd, "FAILED storing calibration");
close(diff_pres_sub);
return ERROR;
}
mavlink_log_info(mavlink_fd, "airspeed calibration done");
close(diff_pres_sub);
return OK;
} else {
mavlink_log_info(mavlink_fd, "airspeed calibration FAILED (NaN)");
close(diff_pres_sub);
return ERROR;
}
}