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/**
* @file rc_calibration.cpp
* Remote Control calibration routine
*/
#include "rc_calibration.h"
#include "commander_helper.h"
#include <poll.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/manual_control_setpoint.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_rc_calibration(int mavlink_fd)
{
mavlink_log_info(mavlink_fd, "trim calibration starting");
/* XXX fix this */
// if (current_status.rc_signal) {
// mavlink_log_critical(mavlink_fd, "TRIM CAL: ABORT. No RC signal.");
// return;
// }
int sub_man = orb_subscribe(ORB_ID(manual_control_setpoint));
struct manual_control_setpoint_s sp;
orb_copy(ORB_ID(manual_control_setpoint), sub_man, &sp);
/* set parameters */
float p = sp.roll;
param_set(param_find("TRIM_ROLL"), &p);
p = sp.pitch;
param_set(param_find("TRIM_PITCH"), &p);
p = sp.yaw;
param_set(param_find("TRIM_YAW"), &p);
/* store to permanent storage */
/* auto-save */
int save_ret = param_save_default();
if (save_ret != 0) {
mavlink_log_critical(mavlink_fd, "TRIM CAL: WARN: auto-save of params failed");
return ERROR;
}
mavlink_log_info(mavlink_fd, "trim calibration done");
return OK;
}