From e4830eb53fc712669e1f6d9ac312e311ec88fd40 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 28 Feb 2015 04:01:10 +0100 Subject: mag detection (sensors / commander): Default all sensors to internal, set the ones which have been found explicitely to zero if they were -1. --- src/modules/commander/state_machine_helper.cpp | 4 ++-- src/modules/sensors/sensor_params.c | 6 +++--- src/modules/sensors/sensors.cpp | 11 +++++++++-- 3 files changed, 14 insertions(+), 7 deletions(-) diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 40aa4a2f0..0154f235f 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2013, 2014 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 @@ -35,7 +35,7 @@ * @file state_machine_helper.cpp * State machine helper functions implementations * - * @author Thomas Gubler + * @author Thomas Gubler * @author Julian Oes */ diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index 3e21ec2a9..5ec678033 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -130,7 +130,7 @@ PARAM_DEFINE_INT32(CAL_MAG0_ID, 0); * @max 30 * @group Sensor Calibration */ -PARAM_DEFINE_INT32(CAL_MAG0_ROT, 0); +PARAM_DEFINE_INT32(CAL_MAG0_ROT, -1); /** * Magnetometer X-axis offset @@ -308,7 +308,7 @@ PARAM_DEFINE_INT32(CAL_MAG1_ID, 0); * @max 30 * @group Sensor Calibration */ -PARAM_DEFINE_INT32(CAL_MAG1_ROT, 0); +PARAM_DEFINE_INT32(CAL_MAG1_ROT, -1); /** * Magnetometer X-axis offset @@ -486,7 +486,7 @@ PARAM_DEFINE_INT32(CAL_MAG2_ID, 0); * @max 30 * @group Sensor Calibration */ -PARAM_DEFINE_INT32(CAL_MAG2_ROT, 0); +PARAM_DEFINE_INT32(CAL_MAG2_ROT, -1); /** * Magnetometer X-axis offset diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 9a90c84e0..1d392b0da 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -1511,14 +1511,21 @@ Sensors::parameter_update_poll(bool forced) if (ioctl(fd, MAGIOCGEXTERNAL, 0) <= 0) { /* mag is internal */ _mag_rotation[s] = _board_rotation; - /* reset param to -1 to indicate external mag */ + /* reset param to -1 to indicate internal mag */ int32_t minus_one = MAG_ROT_VAL_INTERNAL; param_set_no_notification(param_find(str), &minus_one); } else { - int32_t mag_rot = 0; + int32_t mag_rot; param_get(param_find(str), &mag_rot); + /* check if this mag is still set as internal */ + if (mag_rot < 0) { + /* it was marked as internal, change to external with no rotation */ + mag_rot = 0; + param_set_no_notification(param_find(str), &mag_rot); + } + /* handling of old setups, will be removed later (noted Feb 2015) */ int32_t deprecated_mag_rot = 0; param_get(param_find("SENS_EXT_MAG_ROT"), &deprecated_mag_rot); -- cgit v1.2.3