diff options
Diffstat (limited to 'src/modules/commander/mag_calibration.cpp')
-rw-r--r-- | src/modules/commander/mag_calibration.cpp | 81 |
1 files changed, 47 insertions, 34 deletions
diff --git a/src/modules/commander/mag_calibration.cpp b/src/modules/commander/mag_calibration.cpp index 7be8de9c6..2afb9a440 100644 --- a/src/modules/commander/mag_calibration.cpp +++ b/src/modules/commander/mag_calibration.cpp @@ -65,6 +65,7 @@ static const char *sensor_name = "mag"; int do_mag_calibration(int mavlink_fd) { + int32_t device_id; mavlink_log_info(mavlink_fd, CAL_STARTED_MSG, sensor_name); mavlink_log_info(mavlink_fd, "don't move system"); @@ -88,6 +89,9 @@ int do_mag_calibration(int mavlink_fd) /* erase old calibration */ int fd = open(MAG_DEVICE_PATH, O_RDONLY); + + device_id = ioctl(fd, DEVIOCGDEVICEID, 0); + res = ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale_null); if (res != OK) { @@ -145,55 +149,61 @@ int do_mag_calibration(int mavlink_fd) } if (res == OK) { - int sub_mag = orb_subscribe(ORB_ID(sensor_mag0)); - struct mag_report mag; + int sub_mag = orb_subscribe_multi(ORB_ID(sensor_mag), 0); + + if (sub_mag < 0) { + mavlink_log_critical(mavlink_fd, "No mag found, abort"); + res = ERROR; + } else { + struct mag_report mag; + + /* limit update rate to get equally spaced measurements over time (in ms) */ + orb_set_interval(sub_mag, (calibration_interval / 1000) / calibration_maxcount); - /* limit update rate to get equally spaced measurements over time (in ms) */ - orb_set_interval(sub_mag, (calibration_interval / 1000) / calibration_maxcount); + /* calibrate offsets */ + uint64_t calibration_deadline = hrt_absolute_time() + calibration_interval; + unsigned poll_errcount = 0; - /* calibrate offsets */ - uint64_t calibration_deadline = hrt_absolute_time() + calibration_interval; - unsigned poll_errcount = 0; + mavlink_log_info(mavlink_fd, "Turn on all sides: front/back,left/right,up/down"); - mavlink_log_info(mavlink_fd, "Turn on all sides: front/back,left/right,up/down"); + calibration_counter = 0U; - calibration_counter = 0; + while (hrt_absolute_time() < calibration_deadline && + calibration_counter < calibration_maxcount) { - while (hrt_absolute_time() < calibration_deadline && - calibration_counter < calibration_maxcount) { + /* wait blocking for new data */ + struct pollfd fds[1]; + fds[0].fd = sub_mag; + fds[0].events = POLLIN; - /* wait blocking for new data */ - struct pollfd fds[1]; - fds[0].fd = sub_mag; - fds[0].events = POLLIN; + int poll_ret = poll(fds, 1, 1000); - int poll_ret = poll(fds, 1, 1000); + if (poll_ret > 0) { + orb_copy(ORB_ID(sensor_mag), sub_mag, &mag); - if (poll_ret > 0) { - orb_copy(ORB_ID(sensor_mag0), sub_mag, &mag); + x[calibration_counter] = mag.x; + y[calibration_counter] = mag.y; + z[calibration_counter] = mag.z; - x[calibration_counter] = mag.x; - y[calibration_counter] = mag.y; - z[calibration_counter] = mag.z; + calibration_counter++; - calibration_counter++; + if (calibration_counter % (calibration_maxcount / 20) == 0) { + mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 20 + (calibration_counter * 50) / calibration_maxcount); + } - if (calibration_counter % (calibration_maxcount / 20) == 0) { - mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 20 + (calibration_counter * 50) / calibration_maxcount); + } else { + poll_errcount++; } - } else { - poll_errcount++; + if (poll_errcount > 1000) { + mavlink_log_critical(mavlink_fd, CAL_FAILED_SENSOR_MSG); + res = ERROR; + break; + } } - if (poll_errcount > 1000) { - mavlink_log_critical(mavlink_fd, CAL_FAILED_SENSOR_MSG); - res = ERROR; - break; - } + close(sub_mag); } - - close(sub_mag); } float sphere_x; @@ -201,7 +211,7 @@ int do_mag_calibration(int mavlink_fd) float sphere_z; float sphere_radius; - if (res == OK) { + if (res == OK && calibration_counter > (calibration_maxcount / 2)) { /* sphere fit */ mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 70); @@ -253,6 +263,9 @@ int do_mag_calibration(int mavlink_fd) if (res == OK) { /* set parameters */ + if (param_set(param_find("SENS_MAG_ID"), &(device_id))) { + res = ERROR; + } if (param_set(param_find("SENS_MAG_XOFF"), &(mscale.x_offset))) { res = ERROR; } |