diff options
Diffstat (limited to 'src/modules/commander/gyro_calibration.cpp')
| -rw-r--r-- | src/modules/commander/gyro_calibration.cpp | 20 |
1 files changed, 12 insertions, 8 deletions
diff --git a/src/modules/commander/gyro_calibration.cpp b/src/modules/commander/gyro_calibration.cpp index 33566d4e5..82a0349c9 100644 --- a/src/modules/commander/gyro_calibration.cpp +++ b/src/modules/commander/gyro_calibration.cpp @@ -60,12 +60,12 @@ int do_gyro_calibration(int mavlink_fd) { mavlink_log_info(mavlink_fd, "Gyro calibration starting, do not move unit."); - const int calibration_count = 5000; + const unsigned calibration_count = 5000; int sub_sensor_combined = orb_subscribe(ORB_ID(sensor_combined)); struct sensor_combined_s raw; - int calibration_counter = 0; + unsigned calibration_counter = 0; float gyro_offset[3] = {0.0f, 0.0f, 0.0f}; /* set offsets to zero */ @@ -101,6 +101,8 @@ int do_gyro_calibration(int mavlink_fd) gyro_offset[1] += raw.gyro_rad_s[1]; gyro_offset[2] += raw.gyro_rad_s[2]; calibration_counter++; + if (calibration_counter % (calibration_count / 20) == 0) + mavlink_log_info(mavlink_fd, "gyro cal progress <%u> percent", (calibration_counter * 100) / calibration_count); } else { poll_errcount++; @@ -108,6 +110,7 @@ int do_gyro_calibration(int mavlink_fd) if (poll_errcount > 1000) { mavlink_log_info(mavlink_fd, "ERROR: Failed reading gyro sensor"); + close(sub_sensor_combined); return ERROR; } } @@ -147,24 +150,23 @@ int 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"); + close(sub_sensor_combined); return ERROR; } - mavlink_log_info(mavlink_fd, "gyro calibration done"); - tune_neutral(); /* third beep by cal end routine */ } else { mavlink_log_info(mavlink_fd, "offset cal FAILED (NaN)"); + close(sub_sensor_combined); return ERROR; } /*** --- SCALING --- ***/ - mavlink_log_info(mavlink_fd, "offset calibration finished. Rotate for scale 30x"); - mavlink_log_info(mavlink_fd, "or do not rotate and wait for 5 seconds to skip."); + mavlink_log_info(mavlink_fd, "offset done. Rotate for scale 30x or wait 5s to skip."); warnx("offset calibration finished. Rotate for scale 30x, or do not rotate and wait for 5 seconds to skip."); unsigned rotations_count = 30; @@ -187,8 +189,8 @@ int do_gyro_calibration(int mavlink_fd) /* abort this loop if not rotated more than 180 degrees within 5 seconds */ if ((fabsf(baseline_integral / (2.0f * M_PI_F)) < 0.6f) && (hrt_absolute_time() - start_time > 5 * 1e6)) { - mavlink_log_info(mavlink_fd, "gyro scale calibration skipped"); - mavlink_log_info(mavlink_fd, "gyro calibration done"); + mavlink_log_info(mavlink_fd, "scale skipped, gyro calibration done"); + close(sub_sensor_combined); return OK; } @@ -281,9 +283,11 @@ int do_gyro_calibration(int mavlink_fd) mavlink_log_info(mavlink_fd, "gyro calibration done"); /* third beep by cal end routine */ + close(sub_sensor_combined); return OK; } else { mavlink_log_info(mavlink_fd, "gyro calibration FAILED (NaN)"); + close(sub_sensor_combined); return ERROR; } } |