diff options
Diffstat (limited to 'src/modules/commander/airspeed_calibration.cpp')
| -rw-r--r-- | src/modules/commander/airspeed_calibration.cpp | 18 |
1 files changed, 13 insertions, 5 deletions
diff --git a/src/modules/commander/airspeed_calibration.cpp b/src/modules/commander/airspeed_calibration.cpp index df08292e3..e414e5f70 100644 --- a/src/modules/commander/airspeed_calibration.cpp +++ b/src/modules/commander/airspeed_calibration.cpp @@ -49,7 +49,13 @@ #include <systemlib/param/param.h> #include <systemlib/err.h> -void do_airspeed_calibration(int mavlink_fd) +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + +int do_airspeed_calibration(int mavlink_fd) { /* give directions */ mavlink_log_info(mavlink_fd, "airspeed calibration starting, keep it still"); @@ -79,7 +85,7 @@ void do_airspeed_calibration(int mavlink_fd) } else if (poll_ret == 0) { /* any poll failure for 1s is a reason to abort */ mavlink_log_info(mavlink_fd, "airspeed calibration aborted"); - return; + return ERROR; } } @@ -89,6 +95,7 @@ void do_airspeed_calibration(int mavlink_fd) if (param_set(param_find("SENS_DPRES_OFF"), &(diff_pres_offset))) { mavlink_log_critical(mavlink_fd, "Setting offs failed!"); + return ERROR; } /* auto-save to EEPROM */ @@ -96,6 +103,8 @@ void do_airspeed_calibration(int mavlink_fd) if (save_ret != 0) { warn("WARNING: auto-save of params to storage failed"); + mavlink_log_info(mavlink_fd, "FAILED storing calibration"); + return ERROR; } //char buf[50]; @@ -103,11 +112,10 @@ void do_airspeed_calibration(int mavlink_fd) //mavlink_log_info(mavlink_fd, buf); mavlink_log_info(mavlink_fd, "airspeed calibration done"); - tune_positive(); + return OK; } else { mavlink_log_info(mavlink_fd, "airspeed calibration FAILED (NaN)"); + return ERROR; } - - close(diff_pres_sub); } |