Merge remote-tracking branch 'px4/master' into mavlink_broadcast

2 files changed, 10 insertions, 17 deletions

diff --git a/src/modules/commander/airspeed_calibration.cpp b/src/modules/commander/airspeed_calibration.cpp
index 6039d92a7..c8c7a42e7 100644
--- a/src/modules/commander/airspeed_calibration.cpp
+++ b/src/modules/commander/airspeed_calibration.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2013, 2014 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
@@ -64,9 +64,9 @@ int do_airspeed_calibration(int mavlink_fd)
 {
 	/* give directions */
 	mavlink_log_info(mavlink_fd, CAL_STARTED_MSG, sensor_name);
-	mavlink_log_info(mavlink_fd, "don't move system");
+	mavlink_log_info(mavlink_fd, "ensure airspeed sensor is not registering wind");
 
-	const int calibration_count = 2500;
+	const int calibration_count = 2000;
 
 	int diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure));
 	struct differential_pressure_s diff_pres;
@@ -85,13 +85,15 @@ int do_airspeed_calibration(int mavlink_fd)
 	if (fd > 0) {
 		if (OK == ioctl(fd, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale)) {
 			paramreset_successful = true;
+		} else {
+			mavlink_log_critical(mavlink_fd, "airspeed offset zero failed");
 		}
 		close(fd);
 	}
 
 	if (!paramreset_successful) {
-		warn("WARNING: failed to set scale / offsets for airspeed sensor");
-		mavlink_log_critical(mavlink_fd, "could not reset dpress sensor");
+		warn("FAILED to set scale / offsets for airspeed");
+		mavlink_log_critical(mavlink_fd, "dpress reset failed");
 		mavlink_log_info(mavlink_fd, CAL_FAILED_MSG, sensor_name);
 		return ERROR;
 	}
@@ -107,7 +109,7 @@ int do_airspeed_calibration(int mavlink_fd)
 
 		if (poll_ret) {
 			orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres);
-			diff_pres_offset += diff_pres.differential_pressure_pa;
+			diff_pres_offset += diff_pres.differential_pressure_raw_pa;
 			calibration_counter++;
 
 			if (calibration_counter % (calibration_count / 20) == 0)
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 06f7ae6cc..69a45a02f 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -118,8 +118,7 @@ extern struct system_load_s system_load;
 #define STICK_ON_OFF_COUNTER_LIMIT (STICK_ON_OFF_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC)
 
 #define POSITION_TIMEOUT 1000000 /**< consider the local or global position estimate invalid after 1s */
-#define RC_TIMEOUT 100000
-#define RC_TIMEOUT_HIL 500000
+#define RC_TIMEOUT 500000
 #define DIFFPRESS_TIMEOUT 2000000
 
 #define PRINT_INTERVAL	5000000
@@ -1109,16 +1108,8 @@ int commander_thread_main(int argc, char *argv[])
 			}
 		}
 
-
-		/*
-		 * XXX workaround:
-		 * Prevent RC loss in HIL when sensors.cpp is only publishing sp_man at a low rate (e.g. 30Hz)
-		 * which can trigger RC loss if the computer/simulator lags.
-		 */
-		uint64_t rc_timeout = status.hil_state == HIL_STATE_ON ? RC_TIMEOUT_HIL : RC_TIMEOUT;
-
 		/* start RC input check */
-		if (!status.rc_input_blocked && sp_man.timestamp != 0 && hrt_absolute_time() < sp_man.timestamp + rc_timeout) {
+		if (!status.rc_input_blocked && sp_man.timestamp != 0 && hrt_absolute_time() < sp_man.timestamp + RC_TIMEOUT) {
 			/* handle the case where RC signal was regained */
 			if (!status.rc_signal_found_once) {
 				status.rc_signal_found_once = true;