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author | Julian Oes <joes@student.ethz.ch> | 2012-09-25 10:31:19 +0200 |
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committer | Julian Oes <joes@student.ethz.ch> | 2012-09-25 10:31:19 +0200 |
commit | 268874fdb7d3f5396a0ddf7731681afb42c01ec2 (patch) | |
tree | 22679b6d18c5f5e26639ee67c5a5695dee91618b /apps/commander | |
parent | 505acf94e70a0c1647d619850e8c21809ff9be11 (diff) | |
download | px4-firmware-268874fdb7d3f5396a0ddf7731681afb42c01ec2.tar.gz px4-firmware-268874fdb7d3f5396a0ddf7731681afb42c01ec2.tar.bz2 px4-firmware-268874fdb7d3f5396a0ddf7731681afb42c01ec2.zip |
auto save after calibration (however the rest is reset to stock)
Diffstat (limited to 'apps/commander')
-rw-r--r-- | apps/commander/commander.c | 48 |
1 files changed, 47 insertions, 1 deletions
diff --git a/apps/commander/commander.c b/apps/commander/commander.c index c8564792f..18dd0ceb6 100644 --- a/apps/commander/commander.c +++ b/apps/commander/commander.c @@ -71,7 +71,7 @@ #include <uORB/topics/subsystem_info.h> #include <uORB/topics/actuator_controls.h> #include <mavlink/mavlink_log.h> - + #include <systemlib/param/param.h> #include <systemlib/systemlib.h> #include <systemlib/err.h> @@ -136,6 +136,7 @@ static void led_deinit(void); static int led_toggle(int led); static int led_on(int led); static int led_off(int led); +static int pm_save_eeprom(bool only_unsaved); static void do_gyro_calibration(int status_pub, struct vehicle_status_s *status); static void do_mag_calibration(int status_pub, struct vehicle_status_s *status); static void do_accel_calibration(int status_pub, struct vehicle_status_s *status); @@ -266,6 +267,33 @@ static void cal_bsort(float a[], int n) } } +static const char *parameter_file = "/eeprom/parameters"; + +static int pm_save_eeprom(bool only_unsaved) +{ + /* delete the file in case it exists */ + unlink(parameter_file); + + /* create the file */ + int fd = open(parameter_file, O_WRONLY | O_CREAT | O_EXCL); + + if (fd < 0) { + warn("opening '%s' for writing failed", parameter_file); + return -1; + } + + int result = param_export(fd, only_unsaved); + close(fd); + + if (result != 0) { + unlink(parameter_file); + warn("error exporting parameters to '%s'", parameter_file); + return -2; + } + + return 0; +} + void do_mag_calibration(int status_pub, struct vehicle_status_s *status) { /* set to mag calibration mode */ @@ -487,6 +515,12 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status) free(mag_minima[1]); free(mag_minima[2]); + /* auto-save to EEPROM */ + int save_ret = pm_save_eeprom(true); + if(save_ret != 0) { + warn("WARNING: auto-save of params to EEPROM failed"); + } + close(sub_sensor_combined); } @@ -566,6 +600,12 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status) warn("WARNING: failed to set scale / offsets for gyro"); close(fd); + /* auto-save to EEPROM */ + int save_ret = pm_save_eeprom(true); + if(save_ret != 0) { + warn("WARNING: auto-save of params to EEPROM failed"); + } + /* exit to gyro calibration mode */ status->flag_preflight_gyro_calibration = false; state_machine_publish(status_pub, status, mavlink_fd); @@ -675,6 +715,12 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status) warn("WARNING: failed to set scale / offsets for accel"); close(fd); + /* auto-save to EEPROM */ + int save_ret = pm_save_eeprom(true); + if(save_ret != 0) { + warn("WARNING: auto-save of params to EEPROM failed"); + } + /* exit to gyro calibration mode */ status->flag_preflight_accel_calibration = false; state_machine_publish(status_pub, status, mavlink_fd); |