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| author | Lorenz Meier <lorenz@px4.io> | 2015-04-04 10:06:47 +0200 |
|---|---|---|
| committer | Lorenz Meier <lorenz@px4.io> | 2015-04-04 10:06:47 +0200 |
| commit | 0a33ef4e33877630ab03566eded2b9f377926b3a (patch) | |
| tree | 357fbf78987f8b7371820c7e9eab8603fcc085a6 | |
| parent | 2dec10b8b73b7074cc05d8b8b504853fb8df74c2 (diff) | |
| parent | bb6b30f57a02912d63260456b1f8d1792a0e02e7 (diff) | |
| download | px4-firmware-0a33ef4e33877630ab03566eded2b9f377926b3a.tar.gz px4-firmware-0a33ef4e33877630ab03566eded2b9f377926b3a.tar.bz2 px4-firmware-0a33ef4e33877630ab03566eded2b9f377926b3a.zip | |
Merge pull request #1982 from DonLakeFlyer/MagCal
Report alternate side done for mag cal
| -rw-r--r-- | src/modules/commander/mag_calibration.cpp | 15 |
1 files changed, 9 insertions, 6 deletions
diff --git a/src/modules/commander/mag_calibration.cpp b/src/modules/commander/mag_calibration.cpp index bfe73d338..198acb027 100644 --- a/src/modules/commander/mag_calibration.cpp +++ b/src/modules/commander/mag_calibration.cpp @@ -239,29 +239,32 @@ int mag_calibration_worker(detect_orientation_return orientation, void* data) // Mark the opposite side as collected as well. No need to collect opposite side since it // would generate similar points. + detect_orientation_return alternateOrientation = orientation; switch (orientation) { case DETECT_ORIENTATION_TAIL_DOWN: - worker_data->side_data_collected[DETECT_ORIENTATION_NOSE_DOWN] = true; + alternateOrientation = DETECT_ORIENTATION_NOSE_DOWN; break; case DETECT_ORIENTATION_NOSE_DOWN: - worker_data->side_data_collected[DETECT_ORIENTATION_TAIL_DOWN] = true; + alternateOrientation = DETECT_ORIENTATION_TAIL_DOWN; break; case DETECT_ORIENTATION_LEFT: - worker_data->side_data_collected[DETECT_ORIENTATION_RIGHT] = true; + alternateOrientation = DETECT_ORIENTATION_RIGHT; break; case DETECT_ORIENTATION_RIGHT: - worker_data->side_data_collected[DETECT_ORIENTATION_LEFT] = true; + alternateOrientation = DETECT_ORIENTATION_LEFT; break; case DETECT_ORIENTATION_UPSIDE_DOWN: - worker_data->side_data_collected[DETECT_ORIENTATION_RIGHTSIDE_UP] = true; + alternateOrientation = DETECT_ORIENTATION_RIGHTSIDE_UP; break; case DETECT_ORIENTATION_RIGHTSIDE_UP: - worker_data->side_data_collected[DETECT_ORIENTATION_UPSIDE_DOWN] = true; + alternateOrientation = DETECT_ORIENTATION_UPSIDE_DOWN; break; case DETECT_ORIENTATION_ERROR: warnx("Invalid orientation in mag_calibration_worker"); break; } + worker_data->side_data_collected[alternateOrientation] = true; + mavlink_and_console_log_info(worker_data->mavlink_fd, "%s side done, rotate to a different side", detect_orientation_str(alternateOrientation)); worker_data->done_count++; mavlink_and_console_log_info(worker_data->mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 34 * worker_data->done_count); |