diff options
Diffstat (limited to 'src/modules/commander/gyro_calibration.cpp')
-rw-r--r-- | src/modules/commander/gyro_calibration.cpp | 31 |
1 files changed, 16 insertions, 15 deletions
diff --git a/src/modules/commander/gyro_calibration.cpp b/src/modules/commander/gyro_calibration.cpp index f1afb0107..9cd2f3a19 100644 --- a/src/modules/commander/gyro_calibration.cpp +++ b/src/modules/commander/gyro_calibration.cpp @@ -50,8 +50,13 @@ #include <systemlib/param/param.h> #include <systemlib/err.h> +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; -void do_gyro_calibration(int mavlink_fd) +int do_gyro_calibration(int mavlink_fd) { mavlink_log_info(mavlink_fd, "gyro calibration starting, hold still"); @@ -98,7 +103,7 @@ void do_gyro_calibration(int mavlink_fd) } else if (poll_ret == 0) { /* any poll failure for 1s is a reason to abort */ mavlink_log_info(mavlink_fd, "gyro calibration aborted, retry"); - return; + return ERROR; } } @@ -137,18 +142,17 @@ void do_gyro_calibration(int mavlink_fd) if (save_ret != 0) { warnx("WARNING: auto-save of params to storage failed"); mavlink_log_critical(mavlink_fd, "gyro store failed"); - // XXX negative tune - return; + return ERROR; } mavlink_log_info(mavlink_fd, "gyro calibration done"); - tune_positive(); + tune_neutral(); /* third beep by cal end routine */ } else { mavlink_log_info(mavlink_fd, "offset cal FAILED (NaN)"); - return; + return ERROR; } @@ -180,8 +184,7 @@ void do_gyro_calibration(int mavlink_fd) && (hrt_absolute_time() - start_time > 5 * 1e6)) { mavlink_log_info(mavlink_fd, "gyro scale calibration skipped"); mavlink_log_info(mavlink_fd, "gyro calibration done"); - tune_positive(); - return; + return OK; } /* wait blocking for new data */ @@ -221,7 +224,7 @@ void do_gyro_calibration(int mavlink_fd) // operating near the 1e6/1e8 max sane resolution of float. gyro_integral += (raw.gyro_rad_s[2] * dt_ms) / 1e3f; - warnx("dbg: b: %6.4f, g: %6.4f", baseline_integral, gyro_integral); +// warnx("dbg: b: %6.4f, g: %6.4f", (double)baseline_integral, (double)gyro_integral); // } else if (poll_ret == 0) { // /* any poll failure for 1s is a reason to abort */ @@ -232,8 +235,8 @@ void do_gyro_calibration(int mavlink_fd) float gyro_scale = baseline_integral / gyro_integral; float gyro_scales[] = { gyro_scale, gyro_scale, gyro_scale }; - warnx("gyro scale: yaw (z): %6.4f", gyro_scale); - mavlink_log_info(mavlink_fd, "gyro scale: yaw (z): %6.4f", gyro_scale); + warnx("gyro scale: yaw (z): %6.4f", (double)gyro_scale); + mavlink_log_info(mavlink_fd, "gyro scale: yaw (z): %6.4f", (double)gyro_scale); if (isfinite(gyro_scales[0]) && isfinite(gyro_scales[1]) && isfinite(gyro_scales[2])) { @@ -272,12 +275,10 @@ void do_gyro_calibration(int mavlink_fd) // mavlink_log_info(mavlink_fd, buf); mavlink_log_info(mavlink_fd, "gyro calibration done"); - tune_positive(); /* third beep by cal end routine */ - + return OK; } else { mavlink_log_info(mavlink_fd, "gyro calibration FAILED (NaN)"); + return ERROR; } - - close(sub_sensor_combined); } |