diff options
Diffstat (limited to 'apps/commander/commander.c')
| -rw-r--r-- | apps/commander/commander.c | 10 |
1 files changed, 6 insertions, 4 deletions
diff --git a/apps/commander/commander.c b/apps/commander/commander.c index 36e484f10..c569a6aa4 100644 --- a/apps/commander/commander.c +++ b/apps/commander/commander.c @@ -293,7 +293,7 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status) struct sensor_combined_s raw; /* 30 seconds */ - const uint64_t calibration_interval_us = 45 * 1000000; + int calibration_interval_ms = 30 * 1000; unsigned int calibration_counter = 0; float mag_max[3] = {-FLT_MAX, -FLT_MAX, -FLT_MAX}; @@ -312,10 +312,10 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status) warn("WARNING: failed to set scale / offsets for mag"); close(fd); - mavlink_log_info(mavlink_fd, "[commander] Please rotate around all axes."); + mavlink_log_info(mavlink_fd, "[commander] Please rotate around X"); uint64_t calibration_start = hrt_absolute_time(); - while ((hrt_absolute_time() - calibration_start) < calibration_interval_us) { + while ((hrt_absolute_time() - calibration_start)/1000 < calibration_interval_ms) { /* wait blocking for new data */ struct pollfd fds[1] = { { .fd = sub_sensor_combined, .events = POLLIN } }; @@ -348,11 +348,13 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status) calibration_counter++; } else { /* any poll failure for 1s is a reason to abort */ - mavlink_log_info(mavlink_fd, "[commander] mag calibration aborted, please retry."); + mavlink_log_info(mavlink_fd, "[commander] mag cal canceled"); break; } } + mavlink_log_info(mavlink_fd, "[commander] mag calibration done"); + /* disable calibration mode */ status->flag_preflight_mag_calibration = false; state_machine_publish(status_pub, status, mavlink_fd); |