diff options
Diffstat (limited to 'src/modules/commander/accelerometer_calibration.cpp')
| -rw-r--r-- | src/modules/commander/accelerometer_calibration.cpp | 9 |
1 files changed, 6 insertions, 3 deletions
diff --git a/src/modules/commander/accelerometer_calibration.cpp b/src/modules/commander/accelerometer_calibration.cpp index 7180048ff..be465ab76 100644 --- a/src/modules/commander/accelerometer_calibration.cpp +++ b/src/modules/commander/accelerometer_calibration.cpp @@ -131,6 +131,7 @@ #include <fcntl.h> #include <sys/prctl.h> #include <math.h> +#include <float.h> #include <mathlib/mathlib.h> #include <string.h> #include <drivers/drv_hrt.h> @@ -158,6 +159,8 @@ int calculate_calibration_values(float accel_ref[6][3], float accel_T[3][3], flo int do_accel_calibration(int mavlink_fd) { + int fd; + mavlink_log_info(mavlink_fd, CAL_STARTED_MSG, sensor_name); struct accel_scale accel_scale = { @@ -172,7 +175,7 @@ int do_accel_calibration(int mavlink_fd) int res = OK; /* reset all offsets to zero and all scales to one */ - int fd = open(ACCEL_DEVICE_PATH, 0); + fd = open(ACCEL_DEVICE_PATH, 0); res = ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&accel_scale); close(fd); @@ -223,7 +226,7 @@ int do_accel_calibration(int mavlink_fd) if (res == OK) { /* apply new scaling and offsets */ - int fd = open(ACCEL_DEVICE_PATH, 0); + fd = open(ACCEL_DEVICE_PATH, 0); res = ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&accel_scale); close(fd); @@ -524,7 +527,7 @@ int mat_invert3(float src[3][3], float dst[3][3]) src[0][1] * (src[1][0] * src[2][2] - src[1][2] * src[2][0]) + src[0][2] * (src[1][0] * src[2][1] - src[1][1] * src[2][0]); - if (det == 0.0f) { + if (fabsf(det) < FLT_EPSILON) { return ERROR; // Singular matrix } |