diff options
Diffstat (limited to 'src/modules/commander/accelerometer_calibration.cpp')
-rw-r--r-- | src/modules/commander/accelerometer_calibration.cpp | 18 |
1 files changed, 15 insertions, 3 deletions
diff --git a/src/modules/commander/accelerometer_calibration.cpp b/src/modules/commander/accelerometer_calibration.cpp index c2b2e9258..82df7c37d 100644 --- a/src/modules/commander/accelerometer_calibration.cpp +++ b/src/modules/commander/accelerometer_calibration.cpp @@ -136,6 +136,7 @@ int calculate_calibration_values(float accel_ref[6][3], float accel_T[3][3], flo int do_accel_calibration(int mavlink_fd) { /* announce change */ mavlink_log_info(mavlink_fd, "accel calibration started"); + mavlink_log_info(mavlink_fd, "accel cal progress <0> percent"); /* measure and calculate offsets & scales */ float accel_offs[3]; @@ -211,17 +212,28 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float } int sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined)); + + unsigned done_count = 0; + while (true) { bool done = true; - char str[80]; + char str[60]; int str_ptr; str_ptr = sprintf(str, "keep vehicle still:"); + unsigned old_done_count = done_count; + done_count = 0; for (int i = 0; i < 6; i++) { if (!data_collected[i]) { str_ptr += sprintf(&(str[str_ptr]), " %s", orientation_strs[i]); done = false; + } else { + done_count++; } } + + if (old_done_count != done_count) + mavlink_log_info(mavlink_fd, "accel cal progress <%u> percent", 17 * done_count); + if (done) break; mavlink_log_info(mavlink_fd, str); @@ -236,8 +248,8 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float continue; } - sprintf(str, "meas started: %s", orientation_strs[orient]); - mavlink_log_info(mavlink_fd, str); + // sprintf(str, + mavlink_log_info(mavlink_fd, "accel meas started: %s", orientation_strs[orient]); read_accelerometer_avg(sensor_combined_sub, &(accel_ref[orient][0]), samples_num); str_ptr = sprintf(str, "meas result for %s: [ %.2f %.2f %.2f ]", orientation_strs[orient], (double)accel_ref[orient][0], |