diff options
Diffstat (limited to 'src/modules/commander/accelerometer_calibration.cpp')
| -rw-r--r-- | src/modules/commander/accelerometer_calibration.cpp | 15 |
1 files changed, 10 insertions, 5 deletions
diff --git a/src/modules/commander/accelerometer_calibration.cpp b/src/modules/commander/accelerometer_calibration.cpp index d0982b341..f83640d28 100644 --- a/src/modules/commander/accelerometer_calibration.cpp +++ b/src/modules/commander/accelerometer_calibration.cpp @@ -222,8 +222,10 @@ int do_accel_calibration(int mavlink_fd) } } - if (res != OK || active_sensors == 0) { - mavlink_and_console_log_critical(mavlink_fd, CAL_ERROR_SENSOR_MSG); + if (res != OK) { + if (active_sensors == 0) { + mavlink_and_console_log_critical(mavlink_fd, CAL_ERROR_SENSOR_MSG); + } return ERROR; } @@ -278,7 +280,7 @@ int do_accel_calibration(int mavlink_fd) fd = open(str, 0); if (fd < 0) { - mavlink_and_console_log_critical(mavlink_fd, "[cal] sensor does not exist"); + mavlink_and_console_log_critical(mavlink_fd, CAL_QGC_FAILED_MSG, "sensor does not exist"); res = ERROR; } else { res = ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&accel_scale); @@ -298,14 +300,17 @@ int do_accel_calibration(int mavlink_fd) mavlink_and_console_log_critical(mavlink_fd, CAL_ERROR_SAVE_PARAMS_MSG); } + /* if there is a any preflight-check system response, let the barrage of messages through */ + usleep(200000); + mavlink_and_console_log_info(mavlink_fd, CAL_QGC_DONE_MSG, sensor_name); } else { mavlink_and_console_log_critical(mavlink_fd, CAL_QGC_FAILED_MSG, sensor_name); } - // This give a chance for the log messages to go out of the queue before someone else stomps on then - sleep(1); + /* give this message enough time to propagate */ + usleep(600000); return res; } |