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author | Julian Oes <julian@oes.ch> | 2013-06-25 16:30:35 +0200 |
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committer | Julian Oes <julian@oes.ch> | 2013-06-25 16:30:35 +0200 |
commit | 0ecc9c4bf4f2bf9fe1d99b5cbdf398718d2dccdd (patch) | |
tree | e9ee7c3a5e8c5079cf2224ccf560e864cc0036d9 /src/modules/commander/airspeed_calibration.c | |
parent | 9ce2b62eb57b519348c4b2fcd58af09999e504e7 (diff) | |
download | px4-firmware-0ecc9c4bf4f2bf9fe1d99b5cbdf398718d2dccdd.tar.gz px4-firmware-0ecc9c4bf4f2bf9fe1d99b5cbdf398718d2dccdd.tar.bz2 px4-firmware-0ecc9c4bf4f2bf9fe1d99b5cbdf398718d2dccdd.zip |
Shrinking the main commander file a bit
Diffstat (limited to 'src/modules/commander/airspeed_calibration.c')
-rw-r--r-- | src/modules/commander/airspeed_calibration.c | 111 |
1 files changed, 111 insertions, 0 deletions
diff --git a/src/modules/commander/airspeed_calibration.c b/src/modules/commander/airspeed_calibration.c new file mode 100644 index 000000000..feaf11aee --- /dev/null +++ b/src/modules/commander/airspeed_calibration.c @@ -0,0 +1,111 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file airspeed_calibration.c + * Airspeed sensor calibration routine + */ + +#include "airspeed_calibration.h" +#include "commander_helper.h" + +#include <stdio.h> +#include <poll.h> +#include <math.h> +#include <drivers/drv_hrt.h> +#include <uORB/topics/sensor_combined.h> +#include <uORB/topics/differential_pressure.h> +#include <mavlink/mavlink_log.h> +#include <systemlib/param/param.h> +#include <systemlib/err.h> + +void do_airspeed_calibration(int mavlink_fd) +{ + /* give directions */ + mavlink_log_info(mavlink_fd, "airspeed calibration starting, keep it still"); + + const int calibration_count = 2500; + + int diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure)); + struct differential_pressure_s diff_pres; + + int calibration_counter = 0; + float diff_pres_offset = 0.0f; + + while (calibration_counter < calibration_count) { + + /* wait blocking for new data */ + struct pollfd fds[1] = { { .fd = diff_pres_sub, .events = POLLIN } }; + + int poll_ret = poll(fds, 1, 1000); + + if (poll_ret) { + orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres); + diff_pres_offset += diff_pres.differential_pressure_pa; + calibration_counter++; + + } else if (poll_ret == 0) { + /* any poll failure for 1s is a reason to abort */ + mavlink_log_info(mavlink_fd, "airspeed calibration aborted"); + return; + } + } + + diff_pres_offset = diff_pres_offset / calibration_count; + + if (isfinite(diff_pres_offset)) { + + if (param_set(param_find("SENS_DPRES_OFF"), &(diff_pres_offset))) { + mavlink_log_critical(mavlink_fd, "Setting offs failed!"); + } + + /* auto-save to EEPROM */ + int save_ret = param_save_default(); + + if (save_ret != 0) { + warn("WARNING: auto-save of params to storage failed"); + } + + //char buf[50]; + //sprintf(buf, "[cmd] 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, "airspeed calibration done"); + + tune_positive(); + + } else { + mavlink_log_info(mavlink_fd, "airspeed calibration FAILED (NaN)"); + } + + close(diff_pres_sub); +} |