From 68ab69de010adbe37b37558824ca013ecd0d569a Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 20 Jul 2013 13:47:51 +0200 Subject: moved commander to C++, preparation for better gyro scale calibration respecting the current attitude for more accurate results --- src/modules/commander/rc_calibration.cpp | 83 ++++++++++++++++++++++++++++++++ 1 file changed, 83 insertions(+) create mode 100644 src/modules/commander/rc_calibration.cpp (limited to 'src/modules/commander/rc_calibration.cpp') diff --git a/src/modules/commander/rc_calibration.cpp b/src/modules/commander/rc_calibration.cpp new file mode 100644 index 000000000..0de411713 --- /dev/null +++ b/src/modules/commander/rc_calibration.cpp @@ -0,0 +1,83 @@ +/**************************************************************************** + * + * Copyright (C) 2013 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 + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file rc_calibration.cpp + * Remote Control calibration routine + */ + +#include "rc_calibration.h" +#include "commander_helper.h" + +#include +#include +#include +#include +#include +#include + + +void do_rc_calibration(int mavlink_fd) +{ + mavlink_log_info(mavlink_fd, "trim calibration starting"); + + /* XXX fix this */ + // if (current_status.rc_signal) { + // mavlink_log_critical(mavlink_fd, "TRIM CAL: ABORT. No RC signal."); + // return; + // } + + int sub_man = orb_subscribe(ORB_ID(manual_control_setpoint)); + struct manual_control_setpoint_s sp; + orb_copy(ORB_ID(manual_control_setpoint), sub_man, &sp); + + /* set parameters */ + float p = sp.roll; + param_set(param_find("TRIM_ROLL"), &p); + p = sp.pitch; + param_set(param_find("TRIM_PITCH"), &p); + p = sp.yaw; + param_set(param_find("TRIM_YAW"), &p); + + /* store to permanent storage */ + /* auto-save */ + int save_ret = param_save_default(); + + if (save_ret != 0) { + mavlink_log_critical(mavlink_fd, "TRIM CAL: WARN: auto-save of params failed"); + } + + tune_positive(); + + mavlink_log_info(mavlink_fd, "trim calibration done"); +} \ No newline at end of file -- cgit v1.2.3