diff options
Diffstat (limited to 'src/modules/commander/gyro_calibration.cpp')
| -rw-r--r-- | src/modules/commander/gyro_calibration.cpp | 24 |
1 files changed, 16 insertions, 8 deletions
diff --git a/src/modules/commander/gyro_calibration.cpp b/src/modules/commander/gyro_calibration.cpp index 8410297ef..e941e327c 100644 --- a/src/modules/commander/gyro_calibration.cpp +++ b/src/modules/commander/gyro_calibration.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2013-2015 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 @@ -51,6 +51,7 @@ #include <mavlink/mavlink_log.h> #include <systemlib/param/param.h> #include <systemlib/err.h> +#include <systemlib/mcu_version.h> /* oddly, ERROR is not defined for c++ */ #ifdef ERROR @@ -80,6 +81,13 @@ int do_gyro_calibration(int mavlink_fd) int res = OK; + /* store board ID */ + uint32_t mcu_id[3]; + mcu_unique_id(&mcu_id[0]); + + /* store last 32bit number - not unique, but unique in a given set */ + param_set(param_find("CAL_BOARD_ID"), &mcu_id[2]); + /* reset all offsets to zero and all scales to one */ int fd = open(GYRO_DEVICE_PATH, 0); @@ -149,9 +157,9 @@ int do_gyro_calibration(int mavlink_fd) if (res == OK) { /* set offset parameters to new values */ - if (param_set(param_find("SENS_GYRO_XOFF"), &(gyro_scale.x_offset)) - || param_set(param_find("SENS_GYRO_YOFF"), &(gyro_scale.y_offset)) - || param_set(param_find("SENS_GYRO_ZOFF"), &(gyro_scale.z_offset))) { + if (param_set(param_find("CAL_GYRO0_XOFF"), &(gyro_scale.x_offset)) + || param_set(param_find("CAL_GYRO0_YOFF"), &(gyro_scale.y_offset)) + || param_set(param_find("CAL_GYRO0_ZOFF"), &(gyro_scale.z_offset))) { mavlink_log_critical(mavlink_fd, "ERROR: failed to set offset params"); res = ERROR; } @@ -275,13 +283,13 @@ int do_gyro_calibration(int mavlink_fd) if (res == OK) { /* set scale parameters to new values */ - if (param_set(param_find("SENS_GYRO_XSCALE"), &(gyro_scale.x_scale)) - || param_set(param_find("SENS_GYRO_YSCALE"), &(gyro_scale.y_scale)) - || param_set(param_find("SENS_GYRO_ZSCALE"), &(gyro_scale.z_scale))) { + if (param_set(param_find("CAL_GYRO0_XSCALE"), &(gyro_scale.x_scale)) + || param_set(param_find("CAL_GYRO0_YSCALE"), &(gyro_scale.y_scale)) + || param_set(param_find("CAL_GYRO0_ZSCALE"), &(gyro_scale.z_scale))) { mavlink_log_critical(mavlink_fd, "ERROR: failed to set scale params"); res = ERROR; } - if (param_set(param_find("SENS_GYRO_ID"), &(device_id))) { + if (param_set(param_find("CAL_GYRO0_ID"), &(device_id))) { res = ERROR; } } |