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| author | Lorenz Meier <lm@inf.ethz.ch> | 2015-04-19 16:06:52 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-04-19 16:06:52 +0200 |
| commit | 1da048549aee5b24861ea37d094b0d770fa9868d (patch) | |
| tree | 02385c07c050bd993c6aa05a176993f1ceb26497 | |
| parent | 1685f77031935186db771aec47678fe96c705da2 (diff) | |
| download | px4-firmware-1da048549aee5b24861ea37d094b0d770fa9868d.tar.gz px4-firmware-1da048549aee5b24861ea37d094b0d770fa9868d.tar.bz2 px4-firmware-1da048549aee5b24861ea37d094b0d770fa9868d.zip | |
commander gyro cal: Optimize parameter set calls and allow up to 0.0055 rad/s deviation - tuned to allow in-field calibration, but fail anyone really rotating during the step
| -rw-r--r-- | src/modules/commander/gyro_calibration.cpp | 26 |
1 files changed, 13 insertions, 13 deletions
diff --git a/src/modules/commander/gyro_calibration.cpp b/src/modules/commander/gyro_calibration.cpp index 1a7e0a34a..291ccfe80 100644 --- a/src/modules/commander/gyro_calibration.cpp +++ b/src/modules/commander/gyro_calibration.cpp @@ -86,13 +86,6 @@ int do_gyro_calibration(int mavlink_fd) int res = OK; - /* store board ID */ - uint32_t mcu_id[3]; - mcu_unique_id(&mcu_id[0]); - - /* store last 32bit number - not unique, but unique in a given set */ - (void)param_set(param_find("CAL_BOARD_ID"), &mcu_id[2]); - char str[30]; for (unsigned s = 0; s < max_gyros; s++) { @@ -196,7 +189,7 @@ int do_gyro_calibration(int mavlink_fd) float zdiff = gyro_report_0.z - gyro_scale[0].z_offset; /* maximum allowable calibration error in radians */ - const float maxoff = 0.004f; + const float maxoff = 0.0055f; if (!isfinite(gyro_scale[0].x_offset) || !isfinite(gyro_scale[0].y_offset) || @@ -204,7 +197,7 @@ int do_gyro_calibration(int mavlink_fd) fabsf(xdiff) > maxoff || fabsf(ydiff) > maxoff || fabsf(zdiff) > maxoff) { - mavlink_log_critical(mavlink_fd, "ERROR: Motion during calibration"); + mavlink_and_console_log_critical(mavlink_fd, "ERROR: Motion during calibration"); res = ERROR; } } @@ -221,13 +214,13 @@ int do_gyro_calibration(int mavlink_fd) } (void)sprintf(str, "CAL_GYRO%u_XOFF", s); - failed |= (OK != param_set(param_find(str), &(gyro_scale[s].x_offset))); + failed |= (OK != param_set_no_notification(param_find(str), &(gyro_scale[s].x_offset))); (void)sprintf(str, "CAL_GYRO%u_YOFF", s); - failed |= (OK != param_set(param_find(str), &(gyro_scale[s].y_offset))); + failed |= (OK != param_set_no_notification(param_find(str), &(gyro_scale[s].y_offset))); (void)sprintf(str, "CAL_GYRO%u_ZOFF", s); - failed |= (OK != param_set(param_find(str), &(gyro_scale[s].z_offset))); + failed |= (OK != param_set_no_notification(param_find(str), &(gyro_scale[s].z_offset))); (void)sprintf(str, "CAL_GYRO%u_ID", s); - failed |= (OK != param_set(param_find(str), &(device_id[s]))); + failed |= (OK != param_set_no_notification(param_find(str), &(device_id[s]))); /* apply new scaling and offsets */ (void)sprintf(str, "%s%u", GYRO_BASE_DEVICE_PATH, s); @@ -252,6 +245,13 @@ int do_gyro_calibration(int mavlink_fd) } } + /* store board ID */ + uint32_t mcu_id[3]; + mcu_unique_id(&mcu_id[0]); + + /* store last 32bit number - not unique, but unique in a given set */ + (void)param_set(param_find("CAL_BOARD_ID"), &mcu_id[2]); + if (res == OK) { /* auto-save to EEPROM */ res = param_save_default(); |