diff options
Diffstat (limited to 'src/modules/commander/airspeed_calibration.cpp')
| -rw-r--r-- | src/modules/commander/airspeed_calibration.cpp | 20 |
1 files changed, 13 insertions, 7 deletions
diff --git a/src/modules/commander/airspeed_calibration.cpp b/src/modules/commander/airspeed_calibration.cpp index 6039d92a7..5d21d89d0 100644 --- a/src/modules/commander/airspeed_calibration.cpp +++ b/src/modules/commander/airspeed_calibration.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -64,9 +64,9 @@ int do_airspeed_calibration(int mavlink_fd) { /* give directions */ mavlink_log_info(mavlink_fd, CAL_STARTED_MSG, sensor_name); - mavlink_log_info(mavlink_fd, "don't move system"); + mavlink_log_info(mavlink_fd, "ensure airspeed sensor is not registering wind"); - const int calibration_count = 2500; + const int calibration_count = 2000; int diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure)); struct differential_pressure_s diff_pres; @@ -82,16 +82,21 @@ int do_airspeed_calibration(int mavlink_fd) bool paramreset_successful = false; int fd = open(AIRSPEED_DEVICE_PATH, 0); + if (fd > 0) { if (OK == ioctl(fd, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale)) { paramreset_successful = true; + + } else { + mavlink_log_critical(mavlink_fd, "airspeed offset zero failed"); } + close(fd); } if (!paramreset_successful) { - warn("WARNING: failed to set scale / offsets for airspeed sensor"); - mavlink_log_critical(mavlink_fd, "could not reset dpress sensor"); + warn("FAILED to set scale / offsets for airspeed"); + mavlink_log_critical(mavlink_fd, "dpress reset failed"); mavlink_log_info(mavlink_fd, CAL_FAILED_MSG, sensor_name); return ERROR; } @@ -107,11 +112,12 @@ int do_airspeed_calibration(int mavlink_fd) if (poll_ret) { orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres); - diff_pres_offset += diff_pres.differential_pressure_pa; + diff_pres_offset += diff_pres.differential_pressure_raw_pa; calibration_counter++; - if (calibration_counter % (calibration_count / 20) == 0) + if (calibration_counter % (calibration_count / 20) == 0) { mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, (calibration_counter * 100) / calibration_count); + } } else if (poll_ret == 0) { /* any poll failure for 1s is a reason to abort */ |