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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-14 08:32:51 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-14 08:32:51 +0200 |
| commit | 9ce7820e419d2ffa379fb7a3cc168f500623fa3d (patch) | |
| tree | 7c7d83a2d3ac9d97eaacbf6f7ef4d60d6464419e | |
| parent | ec8d395a2d270bd77e873f616a53ee0771c94165 (diff) | |
| download | px4-firmware-9ce7820e419d2ffa379fb7a3cc168f500623fa3d.tar.gz px4-firmware-9ce7820e419d2ffa379fb7a3cc168f500623fa3d.tar.bz2 px4-firmware-9ce7820e419d2ffa379fb7a3cc168f500623fa3d.zip | |
Make instructions in commander more obvious for airspeed calibration
| -rw-r--r-- | src/modules/commander/airspeed_calibration.cpp | 15 |
1 files changed, 12 insertions, 3 deletions
diff --git a/src/modules/commander/airspeed_calibration.cpp b/src/modules/commander/airspeed_calibration.cpp index 423d88682..598cfe9e2 100644 --- a/src/modules/commander/airspeed_calibration.cpp +++ b/src/modules/commander/airspeed_calibration.cpp @@ -180,15 +180,16 @@ int do_airspeed_calibration(int mavlink_fd) return ERROR; } - mavlink_log_critical(mavlink_fd, "Stored offset of %d Pa", (int)diff_pres_offset); + mavlink_log_critical(mavlink_fd, "Offset of %d Pa, create airflow now!", (int)diff_pres_offset); /* wait 500 ms to ensure parameter propagated through the system */ usleep(500 * 1000); calibration_counter = 0; + const int maxcount = 3000; /* just take a few samples and make sure pitot tubes are not reversed, timeout after ~30 seconds */ - while (calibration_counter < 1500) { + while (calibration_counter < maxcount) { /* wait blocking for new data */ struct pollfd fds[1]; @@ -204,7 +205,7 @@ int do_airspeed_calibration(int mavlink_fd) if (fabsf(diff_pres.differential_pressure_raw_pa) < 50.0f) { if (calibration_counter % 100 == 0) { - mavlink_log_critical(mavlink_fd, "Create airflow on pitot (%d Pa, #h101)", + mavlink_log_critical(mavlink_fd, "Missing airflow! (%d, wanted: 50 Pa, #h101)", (int)diff_pres.differential_pressure_raw_pa); } continue; @@ -212,6 +213,8 @@ int do_airspeed_calibration(int mavlink_fd) /* do not allow negative values */ if (diff_pres.differential_pressure_raw_pa < 0.0f) { + mavlink_log_info(mavlink_fd, "negative pressure: ERROR (%d Pa)", + (int)diff_pres.differential_pressure_raw_pa); mavlink_log_critical(mavlink_fd, "%d Pa: swap static and dynamic ports!", (int)diff_pres.differential_pressure_raw_pa); close(diff_pres_sub); @@ -246,6 +249,12 @@ int do_airspeed_calibration(int mavlink_fd) } } + if (calibration_counter == maxcount) { + mavlink_log_critical(mavlink_fd, CAL_FAILED_MSG, sensor_name); + close(diff_pres_sub); + return ERROR; + } + mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 100); mavlink_log_info(mavlink_fd, CAL_DONE_MSG, sensor_name); |