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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-29 16:41:53 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-29 16:41:53 +0100 |
| commit | 574eb96a2ebafeb03d2933c68cb7f7b60269601a (patch) | |
| tree | 9dd114b32042b58d9603bd4c2bcad051849aab22 /apps/commander/commander.c | |
| parent | c3c76ef3d50f71a7bef2994df462c5add11658d9 (diff) | |
| download | px4-firmware-574eb96a2ebafeb03d2933c68cb7f7b60269601a.tar.gz px4-firmware-574eb96a2ebafeb03d2933c68cb7f7b60269601a.tar.bz2 px4-firmware-574eb96a2ebafeb03d2933c68cb7f7b60269601a.zip | |
Calibration improvement
Diffstat (limited to 'apps/commander/commander.c')
| -rw-r--r-- | apps/commander/commander.c | 25 |
1 files changed, 24 insertions, 1 deletions
diff --git a/apps/commander/commander.c b/apps/commander/commander.c index a7550b54b..d93a48e31 100644 --- a/apps/commander/commander.c +++ b/apps/commander/commander.c @@ -360,6 +360,10 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status) float *y = malloc(sizeof(float) * calibration_maxcount); float *z = malloc(sizeof(float) * calibration_maxcount); + tune_confirm(); + sleep(2); + tune_confirm(); + while (hrt_absolute_time() < calibration_deadline && calibration_counter < calibration_maxcount) { @@ -504,6 +508,13 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status) mavlink_log_info(mavlink_fd, buf); mavlink_log_info(mavlink_fd, "[commander] mag calibration done"); + + tune_confirm(); + sleep(2); + tune_confirm(); + sleep(2); + /* third beep by cal end routine */ + } else { mavlink_log_info(mavlink_fd, "[commander] mag calibration FAILED (NaN)"); } @@ -607,6 +618,12 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status) // sprintf(buf, "cal: x:%8.4f y:%8.4f z:%8.4f", (double)gyro_offset[0], (double)gyro_offset[1], (double)gyro_offset[2]); // mavlink_log_info(mavlink_fd, buf); mavlink_log_info(mavlink_fd, "[commander] gyro calibration done"); + + tune_confirm(); + sleep(2); + tune_confirm(); + sleep(2); + /* third beep by cal end routine */ } else { mavlink_log_info(mavlink_fd, "[commander] gyro calibration FAILED (NaN)"); } @@ -721,6 +738,12 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status) //sprintf(buf, "[commander] accel cal: x:%8.4f y:%8.4f z:%8.4f\n", (double)accel_offset[0], (double)accel_offset[1], (double)accel_offset[2]); //mavlink_log_info(mavlink_fd, buf); mavlink_log_info(mavlink_fd, "[commander] accel calibration done"); + + tune_confirm(); + sleep(2); + tune_confirm(); + sleep(2); + /* third beep by cal end routine */ } else { mavlink_log_info(mavlink_fd, "[commander] accel calibration FAILED (NaN)"); } @@ -740,7 +763,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta uint8_t result = MAV_RESULT_UNSUPPORTED; /* announce command handling */ - ioctl(buzzer, TONE_SET_ALARM, 1); + tune_confirm(); /* supported command handling start */ |