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author | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-28 08:14:13 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-28 08:14:13 +0200 |
commit | 5fe3c49ba0e7e3f64f5b6c9b64ced675c01b14fe (patch) | |
tree | 5f024477d370d92edacead7412f60f6757cbf082 /src/modules/commander/rc_calibration.cpp | |
parent | e44d134c6c64535f67e26f9633206aba50a10613 (diff) | |
parent | 66c61fbe96e11ee7099431a8370d84f862543810 (diff) | |
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Merged multirotor branch
Diffstat (limited to 'src/modules/commander/rc_calibration.cpp')
-rw-r--r-- | src/modules/commander/rc_calibration.cpp | 88 |
1 files changed, 88 insertions, 0 deletions
diff --git a/src/modules/commander/rc_calibration.cpp b/src/modules/commander/rc_calibration.cpp new file mode 100644 index 000000000..fe87a3323 --- /dev/null +++ b/src/modules/commander/rc_calibration.cpp @@ -0,0 +1,88 @@ +/**************************************************************************** + * + * 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 rc_calibration.cpp + * Remote Control calibration routine + */ + +#include "rc_calibration.h" +#include "commander_helper.h" + +#include <poll.h> +#include <uORB/topics/sensor_combined.h> +#include <uORB/topics/manual_control_setpoint.h> +#include <mavlink/mavlink_log.h> +#include <systemlib/param/param.h> +#include <systemlib/err.h> + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + +int do_rc_calibration(int mavlink_fd) +{ + mavlink_log_info(mavlink_fd, "trim calibration starting"); + + /* XXX fix this */ + // if (current_status.rc_signal) { + // mavlink_log_critical(mavlink_fd, "TRIM CAL: ABORT. No RC signal."); + // return; + // } + + int sub_man = orb_subscribe(ORB_ID(manual_control_setpoint)); + struct manual_control_setpoint_s sp; + orb_copy(ORB_ID(manual_control_setpoint), sub_man, &sp); + + /* set parameters */ + float p = sp.roll; + param_set(param_find("TRIM_ROLL"), &p); + p = sp.pitch; + param_set(param_find("TRIM_PITCH"), &p); + p = sp.yaw; + param_set(param_find("TRIM_YAW"), &p); + + /* store to permanent storage */ + /* auto-save */ + int save_ret = param_save_default(); + + if (save_ret != 0) { + mavlink_log_critical(mavlink_fd, "TRIM CAL: WARN: auto-save of params failed"); + return ERROR; + } + + mavlink_log_info(mavlink_fd, "trim calibration done"); + return OK; +} |