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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-05 14:14:03 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-05 14:14:03 +0200 |
| commit | 3da219c3db638e0a57d18e892575df13d8c11f47 (patch) | |
| tree | 42ab1e363eeb9706f2239f8184640056ba745502 /src | |
| parent | cdec5e1d052b587a2e2a5d9d3dfef0bc507cc5b9 (diff) | |
| download | px4-firmware-3da219c3db638e0a57d18e892575df13d8c11f47.tar.gz px4-firmware-3da219c3db638e0a57d18e892575df13d8c11f47.tar.bz2 px4-firmware-3da219c3db638e0a57d18e892575df13d8c11f47.zip | |
Update airspeed calibration routine to account for new signedness options
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/commander/airspeed_calibration.cpp | 14 |
1 files changed, 8 insertions, 6 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) |