diff options
Diffstat (limited to 'src/modules/commander/mag_calibration.cpp')
-rw-r--r-- | src/modules/commander/mag_calibration.cpp | 50 |
1 files changed, 34 insertions, 16 deletions
diff --git a/src/modules/commander/mag_calibration.cpp b/src/modules/commander/mag_calibration.cpp index 9a25103f8..e38616027 100644 --- a/src/modules/commander/mag_calibration.cpp +++ b/src/modules/commander/mag_calibration.cpp @@ -53,10 +53,15 @@ #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_mag_calibration(int mavlink_fd) +int do_mag_calibration(int mavlink_fd) { - mavlink_log_info(mavlink_fd, "mag calibration starting, hold still"); + mavlink_log_info(mavlink_fd, "please put the system in a rest position and wait."); int sub_mag = orb_subscribe(ORB_ID(sensor_mag)); struct mag_report mag; @@ -95,6 +100,8 @@ void do_mag_calibration(int mavlink_fd) close(fd); + mavlink_log_info(mavlink_fd, "mag cal progress <20> percent"); + /* calibrate offsets */ // uint64_t calibration_start = hrt_absolute_time(); @@ -113,9 +120,13 @@ void do_mag_calibration(int mavlink_fd) warnx("mag cal failed: out of memory"); mavlink_log_info(mavlink_fd, "mag cal failed: out of memory"); warnx("x:%p y:%p z:%p\n", x, y, z); - return; + return ERROR; } + mavlink_log_info(mavlink_fd, "scale calibration completed, dynamic calibration starting.."); + + unsigned poll_errcount = 0; + while (hrt_absolute_time() < calibration_deadline && calibration_counter < calibration_maxcount) { @@ -130,9 +141,8 @@ void do_mag_calibration(int mavlink_fd) axis_index++; - char buf[50]; - sprintf(buf, "please rotate around %c", axislabels[axis_index]); - mavlink_log_info(mavlink_fd, buf); + mavlink_log_info(mavlink_fd, "please rotate in a figure 8 or around %c axis.", axislabels[axis_index]); + mavlink_log_info(mavlink_fd, "mag cal progress <%u> percent", 20 + (calibration_maxcount * 50) / calibration_counter); tune_neutral(); axis_deadline += calibration_interval / 3; @@ -152,7 +162,7 @@ void do_mag_calibration(int mavlink_fd) int poll_ret = poll(fds, 1, 1000); - if (poll_ret) { + if (poll_ret > 0) { orb_copy(ORB_ID(sensor_mag), sub_mag, &mag); x[calibration_counter] = mag.x; @@ -184,11 +194,16 @@ void do_mag_calibration(int mavlink_fd) calibration_counter++; - } else if (poll_ret == 0) { - /* any poll failure for 1s is a reason to abort */ - mavlink_log_info(mavlink_fd, "mag cal canceled (timed out)"); - break; + } else { + poll_errcount++; + } + + if (poll_errcount > 1000) { + mavlink_log_info(mavlink_fd, "ERROR: Failed reading mag sensor"); + return ERROR; } + + } float sphere_x; @@ -246,12 +261,15 @@ void do_mag_calibration(int mavlink_fd) warnx("Setting Z mag scale failed!\n"); } + mavlink_log_info(mavlink_fd, "mag cal progress <90> percent"); + /* auto-save to EEPROM */ int save_ret = param_save_default(); if (save_ret != 0) { warn("WARNING: auto-save of params to storage failed"); mavlink_log_info(mavlink_fd, "FAILED storing calibration"); + return ERROR; } warnx("\tscale: %.6f %.6f %.6f\n \toffset: %.6f %.6f %.6f\nradius: %.6f GA\n", @@ -267,14 +285,14 @@ void do_mag_calibration(int mavlink_fd) (double)mscale.y_scale, (double)mscale.z_scale); mavlink_log_info(mavlink_fd, buf); - mavlink_log_info(mavlink_fd, "mag calibration done"); + mavlink_log_info(mavlink_fd, "magnetometer calibration completed"); + mavlink_log_info(mavlink_fd, "mag cal progress <100> percent"); - tune_positive(); + return OK; /* third beep by cal end routine */ } else { mavlink_log_info(mavlink_fd, "mag calibration FAILED (NaN in sphere fit)"); + return ERROR; } - - close(sub_mag); -}
\ No newline at end of file +} |