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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-11-26 07:56:54 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-11-26 07:56:54 +0100 |
commit | 6200a3e3a5f24f40ff9da8b3fb366b7014656941 (patch) | |
tree | 5fc03991b903894d869125af757954de92331279 /src/modules/commander/accelerometer_calibration.cpp | |
parent | 034d0a6a610c8838d6c43b51a4401ce818b77624 (diff) | |
parent | cbcd1ea1d143dfddd2331fb14d17d7be48fa8b6f (diff) | |
download | px4-firmware-6200a3e3a5f24f40ff9da8b3fb366b7014656941.tar.gz px4-firmware-6200a3e3a5f24f40ff9da8b3fb366b7014656941.tar.bz2 px4-firmware-6200a3e3a5f24f40ff9da8b3fb366b7014656941.zip |
Added TeraRanger one sensor
Diffstat (limited to 'src/modules/commander/accelerometer_calibration.cpp')
-rw-r--r-- | src/modules/commander/accelerometer_calibration.cpp | 44 |
1 files changed, 29 insertions, 15 deletions
diff --git a/src/modules/commander/accelerometer_calibration.cpp b/src/modules/commander/accelerometer_calibration.cpp index 7a4e7a766..0cb41489f 100644 --- a/src/modules/commander/accelerometer_calibration.cpp +++ b/src/modules/commander/accelerometer_calibration.cpp @@ -83,7 +83,7 @@ * | accel_T[1][i] | * [ accel_T[2][i] ] * - * b = [ accel_corr_ref[0][i] ] // One measurement per axis is enough + * b = [ accel_corr_ref[0][i] ] // One measurement per side is enough * | accel_corr_ref[2][i] | * [ accel_corr_ref[4][i] ] * @@ -162,6 +162,11 @@ int do_accel_calibration(int mavlink_fd) mavlink_log_info(mavlink_fd, CAL_STARTED_MSG, sensor_name); + mavlink_log_info(mavlink_fd, "You need to put the system on all six sides"); + sleep(3); + mavlink_log_info(mavlink_fd, "Follow the instructions on the screen"); + sleep(5); + struct accel_scale accel_scale = { 0.0f, 1.0f, @@ -258,7 +263,7 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float const int samples_num = 2500; float accel_ref[6][3]; bool data_collected[6] = { false, false, false, false, false, false }; - const char *orientation_strs[6] = { "x+", "x-", "y+", "y-", "z+", "z-" }; + const char *orientation_strs[6] = { "front", "back", "left", "right", "top", "bottom" }; int sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined)); @@ -287,29 +292,37 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float break; } - mavlink_log_info(mavlink_fd, "directions left: %s%s%s%s%s%s", - (!data_collected[0]) ? "x+ " : "", - (!data_collected[1]) ? "x- " : "", - (!data_collected[2]) ? "y+ " : "", - (!data_collected[3]) ? "y- " : "", - (!data_collected[4]) ? "z+ " : "", - (!data_collected[5]) ? "z- " : ""); + /* inform user which axes are still needed */ + mavlink_log_info(mavlink_fd, "pending: %s%s%s%s%s%s", + (!data_collected[0]) ? "front " : "", + (!data_collected[1]) ? "back " : "", + (!data_collected[2]) ? "left " : "", + (!data_collected[3]) ? "right " : "", + (!data_collected[4]) ? "up " : "", + (!data_collected[5]) ? "down " : ""); + + /* allow user enough time to read the message */ + sleep(3); int orient = detect_orientation(mavlink_fd, sensor_combined_sub); if (orient < 0) { - res = ERROR; - break; + mavlink_log_info(mavlink_fd, "invalid motion, hold still..."); + sleep(3); + continue; } + /* inform user about already handled side */ if (data_collected[orient]) { - mavlink_log_info(mavlink_fd, "%s done, rotate to a different axis", orientation_strs[orient]); + mavlink_log_info(mavlink_fd, "%s side done, rotate to a different side", orientation_strs[orient]); + sleep(4); continue; } - mavlink_log_info(mavlink_fd, "accel measurement started: %s axis", orientation_strs[orient]); + mavlink_log_info(mavlink_fd, "Hold still, starting to measure %s side", orientation_strs[orient]); + sleep(1); read_accelerometer_avg(sensor_combined_sub, &(accel_ref[orient][0]), samples_num); - mavlink_log_info(mavlink_fd, "result for %s axis: [ %.2f %.2f %.2f ]", orientation_strs[orient], + mavlink_log_info(mavlink_fd, "result for %s side: [ %.2f %.2f %.2f ]", orientation_strs[orient], (double)accel_ref[orient][0], (double)accel_ref[orient][1], (double)accel_ref[orient][2]); @@ -400,7 +413,7 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) /* is still now */ if (t_still == 0) { /* first time */ - mavlink_log_info(mavlink_fd, "detected rest position, waiting..."); + mavlink_log_info(mavlink_fd, "detected rest position, hold still..."); t_still = t; t_timeout = t + timeout; @@ -418,6 +431,7 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) /* not still, reset still start time */ if (t_still != 0) { mavlink_log_info(mavlink_fd, "detected motion, hold still..."); + sleep(3); t_still = 0; } } |