diff options
Diffstat (limited to 'src/modules/commander/calibration_routines.cpp')
| -rw-r--r-- | src/modules/commander/calibration_routines.cpp | 8 |
1 files changed, 4 insertions, 4 deletions
diff --git a/src/modules/commander/calibration_routines.cpp b/src/modules/commander/calibration_routines.cpp index a320c5c5b..7e8c0fa52 100644 --- a/src/modules/commander/calibration_routines.cpp +++ b/src/modules/commander/calibration_routines.cpp @@ -324,7 +324,7 @@ enum detect_orientation_return detect_orientation(int mavlink_fd, int cancel_sub /* not still, reset still start time */ if (t_still != 0) { mavlink_and_console_log_info(mavlink_fd, "[cal] detected motion, hold still..."); - sleep(3); + usleep(500000); t_still = 0; } } @@ -412,7 +412,7 @@ calibrate_return calibrate_from_orientation(int mavlink_fd, int sub_accel = orb_subscribe_multi(ORB_ID(sensor_accel), 0); if (sub_accel < 0) { - mavlink_and_console_log_critical(mavlink_fd, "[cal] ERROR: No onboard accel found"); + mavlink_and_console_log_critical(mavlink_fd, CAL_QGC_FAILED_MSG, "No onboard accel"); return calibrate_return_error; } @@ -427,7 +427,7 @@ calibrate_return calibrate_from_orientation(int mavlink_fd, if (orientation_failures > 4) { result = calibrate_return_error; - mavlink_and_console_log_critical(mavlink_fd, "[cal] ERROR: timeout waiting for orientation"); + mavlink_and_console_log_critical(mavlink_fd, CAL_QGC_FAILED_MSG, "timeout: no motion"); break; } @@ -488,7 +488,7 @@ calibrate_return calibrate_from_orientation(int mavlink_fd, // Note that this side is complete side_data_collected[orient] = true; tune_neutral(true); - sleep(1); + usleep(500000); } if (sub_accel >= 0) { |