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author | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-27 09:48:22 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-27 09:48:22 +0200 |
commit | 94d8ec4a1c1f052a50f4871db7445fb6454057d3 (patch) | |
tree | aac7804b176c8ae2597a149fd1855593d15437c1 /src/modules/commander/accelerometer_calibration.cpp | |
parent | 9f45b1c589b72753455043c043a0199b471762ce (diff) | |
download | px4-firmware-94d8ec4a1c1f052a50f4871db7445fb6454057d3.tar.gz px4-firmware-94d8ec4a1c1f052a50f4871db7445fb6454057d3.tar.bz2 px4-firmware-94d8ec4a1c1f052a50f4871db7445fb6454057d3.zip |
Calibration message cleanup
Diffstat (limited to 'src/modules/commander/accelerometer_calibration.cpp')
-rw-r--r-- | src/modules/commander/accelerometer_calibration.cpp | 17 |
1 files changed, 8 insertions, 9 deletions
diff --git a/src/modules/commander/accelerometer_calibration.cpp b/src/modules/commander/accelerometer_calibration.cpp index 7a7fa6f4e..e1616acd0 100644 --- a/src/modules/commander/accelerometer_calibration.cpp +++ b/src/modules/commander/accelerometer_calibration.cpp @@ -219,7 +219,7 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float bool done = true; char str[60]; int str_ptr; - str_ptr = sprintf(str, "keep vehicle still:"); + str_ptr = sprintf(str, "keep the vehicle still in one of these axes:"); unsigned old_done_count = done_count; done_count = 0; for (int i = 0; i < 6; i++) { @@ -236,22 +236,21 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float if (done) break; - mavlink_log_info(mavlink_fd, str); int orient = detect_orientation(mavlink_fd, sensor_combined_sub); if (orient < 0) return ERROR; if (data_collected[orient]) { - sprintf(str, "%s direction already measured, please rotate", orientation_strs[orient]); + sprintf(str, "%s done, please rotate to a different axis", orientation_strs[orient]); mavlink_log_info(mavlink_fd, str); continue; } // sprintf(str, - mavlink_log_info(mavlink_fd, "accel meas started: %s", orientation_strs[orient]); + mavlink_log_info(mavlink_fd, "accel measurement started: %s axis", orientation_strs[orient]); read_accelerometer_avg(sensor_combined_sub, &(accel_ref[orient][0]), samples_num); - str_ptr = sprintf(str, "meas result for %s: [ %.2f %.2f %.2f ]", orientation_strs[orient], + str_ptr = sprintf(str, "result for %s axis: [ %.2f %.2f %.2f ]", orientation_strs[orient], (double)accel_ref[orient][0], (double)accel_ref[orient][1], (double)accel_ref[orient][2]); @@ -265,7 +264,7 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float float accel_T[3][3]; int res = calculate_calibration_values(accel_ref, accel_T, accel_offs, CONSTANTS_ONE_G); if (res != 0) { - mavlink_log_info(mavlink_fd, "ERROR: calibration values calc error"); + mavlink_log_info(mavlink_fd, "ERROR: calibration values calculation error"); return ERROR; } @@ -337,7 +336,7 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) { /* is still now */ if (t_still == 0) { /* first time */ - mavlink_log_info(mavlink_fd, "still..."); + mavlink_log_info(mavlink_fd, "detected rest position, waiting..."); t_still = t; t_timeout = t + timeout; } else { @@ -352,7 +351,7 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) { accel_disp[2] > still_thr2 * 2.0f) { /* not still, reset still start time */ if (t_still != 0) { - mavlink_log_info(mavlink_fd, "moving..."); + mavlink_log_info(mavlink_fd, "detected motion, please hold still..."); t_still = 0; } } @@ -364,7 +363,7 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) { } if (poll_errcount > 1000) { - mavlink_log_info(mavlink_fd, "ERROR: failed reading accel"); + mavlink_log_info(mavlink_fd, "ERROR: Failed reading sensor"); return -1; } } |