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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-02-01 13:21:51 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-02-01 13:22:52 +0100 |
| commit | c1d1d6753410445ff4f16a988325cca1b7561a4c (patch) | |
| tree | 91b8ae862b2b2c125c08de9b254a0e56d6b2ee68 /src/modules/commander/rc_calibration.cpp | |
| parent | 83df116c7aa21b6d68f2aa31c4526dd822495d70 (diff) | |
| download | px4-firmware-c1d1d6753410445ff4f16a988325cca1b7561a4c.tar.gz px4-firmware-c1d1d6753410445ff4f16a988325cca1b7561a4c.tar.bz2 px4-firmware-c1d1d6753410445ff4f16a988325cca1b7561a4c.zip | |
Improved RC calibration behaviour, fully supported setting trim offsets
Diffstat (limited to 'src/modules/commander/rc_calibration.cpp')
| -rw-r--r-- | src/modules/commander/rc_calibration.cpp | 11 |
1 files changed, 5 insertions, 6 deletions
diff --git a/src/modules/commander/rc_calibration.cpp b/src/modules/commander/rc_calibration.cpp index 90ede499a..41f3ca0aa 100644 --- a/src/modules/commander/rc_calibration.cpp +++ b/src/modules/commander/rc_calibration.cpp @@ -53,17 +53,16 @@ #endif static const int ERROR = -1; -int do_rc_calibration(int mavlink_fd) +int do_trim_calibration(int mavlink_fd) { - mavlink_log_info(mavlink_fd, "trim calibration starting"); - int sub_man = orb_subscribe(ORB_ID(manual_control_setpoint)); + usleep(200000); struct manual_control_setpoint_s sp; bool changed; orb_check(sub_man, &changed); if (!changed) { - mavlink_log_critical(mavlink_fd, "no manual control, aborting"); + mavlink_log_critical(mavlink_fd, "no inputs, aborting"); return ERROR; } @@ -82,12 +81,12 @@ int do_rc_calibration(int mavlink_fd) int save_ret = param_save_default(); if (save_ret != 0) { - mavlink_log_critical(mavlink_fd, "TRIM CAL: WARN: auto-save of params failed"); + mavlink_log_critical(mavlink_fd, "TRIM: SAVE FAIL"); close(sub_man); return ERROR; } - mavlink_log_info(mavlink_fd, "trim calibration done"); + mavlink_log_info(mavlink_fd, "trim cal done"); close(sub_man); return OK; } |