diff options
Diffstat (limited to 'src/systemcmds')
| -rw-r--r-- | src/systemcmds/config/config.c | 6 | ||||
| -rw-r--r-- | src/systemcmds/preflight_check/preflight_check.c | 11 |
2 files changed, 16 insertions, 1 deletions
diff --git a/src/systemcmds/config/config.c b/src/systemcmds/config/config.c index 4a97d328c..077bc47c9 100644 --- a/src/systemcmds/config/config.c +++ b/src/systemcmds/config/config.c @@ -58,6 +58,7 @@ #include "systemlib/systemlib.h" #include "systemlib/err.h" +#include "systemlib/param/param.h" __EXPORT int config_main(int argc, char *argv[]); @@ -264,8 +265,11 @@ do_mag(int argc, char *argv[]) int srate = ioctl(fd, MAGIOCGSAMPLERATE, 0); int prate = ioctl(fd, SENSORIOCGPOLLRATE, 0); int range = ioctl(fd, MAGIOCGRANGE, 0); + int id = ioctl(fd, DEVIOCGDEVICEID,0); + int32_t calibration_id = 0; + param_get(param_find("SENS_MAG_ID"), &(calibration_id)); - warnx("mag: \n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d Ga", srate, prate, range); + warnx("mag: \n\tdevice id:\t%x\t(calibration is for device id %x)\n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d Ga", id, calibration_id, srate, prate, range); close(fd); } diff --git a/src/systemcmds/preflight_check/preflight_check.c b/src/systemcmds/preflight_check/preflight_check.c index 86e4ff545..bbd90b961 100644 --- a/src/systemcmds/preflight_check/preflight_check.c +++ b/src/systemcmds/preflight_check/preflight_check.c @@ -84,6 +84,7 @@ int preflight_check_main(int argc, char *argv[]) /* open text message output path */ int mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); int ret; + int32_t mag_devid,mag_calibration_devid; /* give the system some time to sample the sensors in the background */ usleep(150000); @@ -96,6 +97,16 @@ int preflight_check_main(int argc, char *argv[]) system_ok = false; goto system_eval; } + + mag_devid = ioctl(fd, DEVIOCGDEVICEID,0); + param_get(param_find("SENS_MAG_ID"), &(mag_calibration_devid)); + if (mag_devid != mag_calibration_devid){ + warnx("magnetometer calibration is for a different device - calibrate magnetometer first"); + mavlink_log_critical(mavlink_fd, "SENSOR FAIL: MAG CAL ID"); + system_ok = false; + goto system_eval; + } + ret = ioctl(fd, MAGIOCSELFTEST, 0); if (ret != OK) { |