diff options
Diffstat (limited to 'src/modules/commander/gyro_calibration.cpp')
| -rw-r--r-- | src/modules/commander/gyro_calibration.cpp | 11 |
1 files changed, 9 insertions, 2 deletions
diff --git a/src/modules/commander/gyro_calibration.cpp b/src/modules/commander/gyro_calibration.cpp index 8ab14dd52..8410297ef 100644 --- a/src/modules/commander/gyro_calibration.cpp +++ b/src/modules/commander/gyro_calibration.cpp @@ -62,6 +62,7 @@ static const char *sensor_name = "gyro"; int do_gyro_calibration(int mavlink_fd) { + int32_t device_id; mavlink_log_info(mavlink_fd, CAL_STARTED_MSG, sensor_name); mavlink_log_info(mavlink_fd, "HOLD STILL"); @@ -81,6 +82,9 @@ int do_gyro_calibration(int mavlink_fd) /* reset all offsets to zero and all scales to one */ int fd = open(GYRO_DEVICE_PATH, 0); + + device_id = ioctl(fd, DEVIOCGDEVICEID, 0); + res = ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gyro_scale); close(fd); @@ -95,7 +99,7 @@ int do_gyro_calibration(int mavlink_fd) unsigned poll_errcount = 0; /* subscribe to gyro sensor topic */ - int sub_sensor_gyro = orb_subscribe(ORB_ID(sensor_gyro0)); + int sub_sensor_gyro = orb_subscribe_multi(ORB_ID(sensor_gyro), 0); struct gyro_report gyro_report; while (calibration_counter < calibration_count) { @@ -107,7 +111,7 @@ int do_gyro_calibration(int mavlink_fd) int poll_ret = poll(fds, 1, 1000); if (poll_ret > 0) { - orb_copy(ORB_ID(sensor_gyro0), sub_sensor_gyro, &gyro_report); + orb_copy(ORB_ID(sensor_gyro), sub_sensor_gyro, &gyro_report); gyro_scale.x_offset += gyro_report.x; gyro_scale.y_offset += gyro_report.y; gyro_scale.z_offset += gyro_report.z; @@ -277,6 +281,9 @@ int do_gyro_calibration(int mavlink_fd) mavlink_log_critical(mavlink_fd, "ERROR: failed to set scale params"); res = ERROR; } + if (param_set(param_find("SENS_GYRO_ID"), &(device_id))) { + res = ERROR; + } } if (res == OK) { |