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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-17 15:09:28 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-17 15:09:28 +0200 |
| commit | 8b000b331704b2d37a8c47ae1bc480b784965db4 (patch) | |
| tree | df0b17477b78ffe1bbdb6bd821150b1f67dc2be3 /apps/commander/commander.c | |
| parent | 23d294453bbdade03a67002f62b898e7aca65a70 (diff) | |
| download | px4-firmware-8b000b331704b2d37a8c47ae1bc480b784965db4.tar.gz px4-firmware-8b000b331704b2d37a8c47ae1bc480b784965db4.tar.bz2 px4-firmware-8b000b331704b2d37a8c47ae1bc480b784965db4.zip | |
Fixed an abort condition, fixed value initialization, implemented naive three-step calibration
Diffstat (limited to 'apps/commander/commander.c')
| -rw-r--r-- | apps/commander/commander.c | 15 |
1 files changed, 12 insertions, 3 deletions
diff --git a/apps/commander/commander.c b/apps/commander/commander.c index 43df6ceb2..746c0e791 100644 --- a/apps/commander/commander.c +++ b/apps/commander/commander.c @@ -292,10 +292,16 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status) struct sensor_combined_s raw; /* 30 seconds */ - uint64_t calibration_interval = 30 * 1000 * 1000; + uint64_t calibration_interval = 45 * 1000 * 1000; unsigned int calibration_counter = 0; - float mag_max[3] = {FLT_MIN, FLT_MIN, FLT_MIN}; + /* + * FLT_MIN is not the most negative float number, + * but the smallest number by magnitude float can + * represent. Use -FLT_MAX to initialize the most + * negative number + */ + float mag_max[3] = {-FLT_MAX, -FLT_MAX, -FLT_MAX}; float mag_min[3] = {FLT_MAX, FLT_MAX, FLT_MAX}; int fd = open(MAG_DEVICE_PATH, 0); @@ -333,13 +339,14 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status) char buf[50]; sprintf(buf, "[commander] Please rotate around %c", axislabels[axis_index]); mavlink_log_info(mavlink_fd, buf); + ioctl(buzzer, TONE_SET_ALARM, 2); axis_deadline += calibration_interval / 3; axis_index++; } if (!(axis_index < 3)) { - continue; + break; } // int axis_left = (int64_t)axis_deadline - (int64_t)hrt_absolute_time(); @@ -823,7 +830,9 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) { mavlink_log_info(mavlink_fd, "[commander] CMD starting accel calibration"); + ioctl(buzzer, TONE_SET_ALARM, 2); do_accel_calibration(status_pub, ¤t_status); + ioctl(buzzer, TONE_SET_ALARM, 2); mavlink_log_info(mavlink_fd, "[commander] CMD finished accel calibration"); do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_STANDBY); result = MAV_RESULT_ACCEPTED; |