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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-17 08:02:50 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-17 08:02:50 +0200 |
| commit | 97726fa67904650c8d82ec7da58924f261deb125 (patch) | |
| tree | 7a20aaeb777f61e822a8a591f293f0cdc35bc759 /apps/commander/commander.c | |
| parent | 32e586d4b7561d1018e29aa59f572c3bac625024 (diff) | |
| download | px4-firmware-97726fa67904650c8d82ec7da58924f261deb125.tar.gz px4-firmware-97726fa67904650c8d82ec7da58924f261deb125.tar.bz2 px4-firmware-97726fa67904650c8d82ec7da58924f261deb125.zip | |
Calibration WIP, not compiling
Diffstat (limited to 'apps/commander/commander.c')
| -rw-r--r-- | apps/commander/commander.c | 17 |
1 files changed, 17 insertions, 0 deletions
diff --git a/apps/commander/commander.c b/apps/commander/commander.c index 43df6ceb2..f11c583d4 100644 --- a/apps/commander/commander.c +++ b/apps/commander/commander.c @@ -299,6 +299,9 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status) float mag_min[3] = {FLT_MAX, FLT_MAX, FLT_MAX}; int fd = open(MAG_DEVICE_PATH, 0); + + + struct mag_scale mscale_null = { 0.0f, 1.0f, @@ -396,6 +399,8 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status) * to shift the center to zero * * offset = max - ((max - min) / 2.0f) + * max - max/2 + min/2 + * max/2 + min/2 * * which reduces to * @@ -422,6 +427,18 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status) fprintf(stderr, "[commander] Setting Z mag offset failed!\n"); } + if (param_set(param_find("SENS_MAG_XSCALE"), &(mag_offset[0]))) { + fprintf(stderr, "[commander] Setting X mag offset failed!\n"); + } + + if (param_set(param_find("SENS_MAG_YSCALE"), &(mag_offset[1]))) { + fprintf(stderr, "[commander] Setting Y mag offset failed!\n"); + } + + if (param_set(param_find("SENS_MAG_ZSCALE"), &(mag_offset[2]))) { + fprintf(stderr, "[commander] Setting Z mag offset failed!\n"); + } + fd = open(MAG_DEVICE_PATH, 0); struct mag_scale mscale = { mag_offset[0], |