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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-08-22 17:32:59 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-08-22 17:32:59 +0200 |
| commit | c0c5c1c70c8bac5660ac902371e3745125af2a6b (patch) | |
| tree | b2326f50c792ed864bad88769ecfceb56b4dd177 /src/modules/commander | |
| parent | b5bb20995be8c0f55bed4f2f2bd6cee9efdcf03e (diff) | |
| parent | b7cc1c880f94138655696d7bd4a526fc218a4242 (diff) | |
| download | px4-firmware-c0c5c1c70c8bac5660ac902371e3745125af2a6b.tar.gz px4-firmware-c0c5c1c70c8bac5660ac902371e3745125af2a6b.tar.bz2 px4-firmware-c0c5c1c70c8bac5660ac902371e3745125af2a6b.zip | |
Merge branch 'master' into seatbelt_multirotor_new
Diffstat (limited to 'src/modules/commander')
| -rw-r--r-- | src/modules/commander/accelerometer_calibration.cpp | 14 |
1 files changed, 13 insertions, 1 deletions
diff --git a/src/modules/commander/accelerometer_calibration.cpp b/src/modules/commander/accelerometer_calibration.cpp index b3a5d012b..b6217a414 100644 --- a/src/modules/commander/accelerometer_calibration.cpp +++ b/src/modules/commander/accelerometer_calibration.cpp @@ -230,6 +230,12 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float if (orient < 0) return ERROR; + if (data_collected[orient]) { + sprintf(str, "%s direction already measured, please rotate", orientation_strs[orient]); + mavlink_log_info(mavlink_fd, str); + continue; + } + sprintf(str, "meas started: %s", orientation_strs[orient]); mavlink_log_info(mavlink_fd, str); read_accelerometer_avg(sensor_combined_sub, &(accel_ref[orient][0]), samples_num); @@ -391,6 +397,8 @@ int read_accelerometer_avg(int sensor_combined_sub, float accel_avg[3], int samp int count = 0; float accel_sum[3] = { 0.0f, 0.0f, 0.0f }; + int errcount = 0; + while (count < samples_num) { int poll_ret = poll(fds, 1, 1000); if (poll_ret == 1) { @@ -400,8 +408,12 @@ int read_accelerometer_avg(int sensor_combined_sub, float accel_avg[3], int samp accel_sum[i] += sensor.accelerometer_m_s2[i]; count++; } else { - return ERROR; + errcount++; + continue; } + + if (errcount > samples_num / 10) + return ERROR; } for (int i = 0; i < 3; i++) { |