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| author | Lorenz Meier <lm@inf.ethz.ch> | 2015-02-28 04:01:10 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-02-28 04:01:10 +0100 |
| commit | e4830eb53fc712669e1f6d9ac312e311ec88fd40 (patch) | |
| tree | 5521e10d7d9037d6bde4d7fa9f996a663816cd06 /src/modules/sensors | |
| parent | 81648f84cd97ec865ba7f20cebeb6285f7ef6d18 (diff) | |
| download | px4-firmware-e4830eb53fc712669e1f6d9ac312e311ec88fd40.tar.gz px4-firmware-e4830eb53fc712669e1f6d9ac312e311ec88fd40.tar.bz2 px4-firmware-e4830eb53fc712669e1f6d9ac312e311ec88fd40.zip | |
mag detection (sensors / commander): Default all sensors to internal, set the ones which have been found explicitely to zero if they were -1.
Diffstat (limited to 'src/modules/sensors')
| -rw-r--r-- | src/modules/sensors/sensor_params.c | 6 | ||||
| -rw-r--r-- | src/modules/sensors/sensors.cpp | 11 |
2 files changed, 12 insertions, 5 deletions
diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index 3e21ec2a9..5ec678033 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -130,7 +130,7 @@ PARAM_DEFINE_INT32(CAL_MAG0_ID, 0); * @max 30 * @group Sensor Calibration */ -PARAM_DEFINE_INT32(CAL_MAG0_ROT, 0); +PARAM_DEFINE_INT32(CAL_MAG0_ROT, -1); /** * Magnetometer X-axis offset @@ -308,7 +308,7 @@ PARAM_DEFINE_INT32(CAL_MAG1_ID, 0); * @max 30 * @group Sensor Calibration */ -PARAM_DEFINE_INT32(CAL_MAG1_ROT, 0); +PARAM_DEFINE_INT32(CAL_MAG1_ROT, -1); /** * Magnetometer X-axis offset @@ -486,7 +486,7 @@ PARAM_DEFINE_INT32(CAL_MAG2_ID, 0); * @max 30 * @group Sensor Calibration */ -PARAM_DEFINE_INT32(CAL_MAG2_ROT, 0); +PARAM_DEFINE_INT32(CAL_MAG2_ROT, -1); /** * Magnetometer X-axis offset diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 9a90c84e0..1d392b0da 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -1511,14 +1511,21 @@ Sensors::parameter_update_poll(bool forced) if (ioctl(fd, MAGIOCGEXTERNAL, 0) <= 0) { /* mag is internal */ _mag_rotation[s] = _board_rotation; - /* reset param to -1 to indicate external mag */ + /* reset param to -1 to indicate internal mag */ int32_t minus_one = MAG_ROT_VAL_INTERNAL; param_set_no_notification(param_find(str), &minus_one); } else { - int32_t mag_rot = 0; + int32_t mag_rot; param_get(param_find(str), &mag_rot); + /* check if this mag is still set as internal */ + if (mag_rot < 0) { + /* it was marked as internal, change to external with no rotation */ + mag_rot = 0; + param_set_no_notification(param_find(str), &mag_rot); + } + /* handling of old setups, will be removed later (noted Feb 2015) */ int32_t deprecated_mag_rot = 0; param_get(param_find("SENS_EXT_MAG_ROT"), &deprecated_mag_rot); |