From 6480747c69203f70b4f28d3a357f49e05df89c85 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Sat, 23 Aug 2014 18:49:00 +0200 Subject: Revert "airspeed_calibration: stop talking about Pa and and hashtags" This reverts commit c6fb75f66fa94444d07056f271980e3f05008f94. --- src/drivers/meas_airspeed/meas_airspeed.cpp | 8 +++----- src/modules/commander/airspeed_calibration.cpp | 18 ++++++++---------- 2 files changed, 11 insertions(+), 15 deletions(-) (limited to 'src') diff --git a/src/drivers/meas_airspeed/meas_airspeed.cpp b/src/drivers/meas_airspeed/meas_airspeed.cpp index bcdf4670a..c136c6641 100644 --- a/src/drivers/meas_airspeed/meas_airspeed.cpp +++ b/src/drivers/meas_airspeed/meas_airspeed.cpp @@ -232,8 +232,6 @@ MEASAirspeed::collect() * tubes are connected backwards */ float diff_press_pa = diff_press_pa_raw; - warnx("diff preasure: %.4f", (double)diff_press_pa); - /* note that we return both the absolute value with offset applied and a raw value without the offset applied. This @@ -261,9 +259,9 @@ MEASAirspeed::collect() report.differential_pressure_filtered_pa = _filter.apply(diff_press_pa); /* the dynamics of the filter can make it overshoot into the negative range */ - //if (report.differential_pressure_filtered_pa < 0.0f) { - // report.differential_pressure_filtered_pa = _filter.reset(diff_press_pa); - //} + if (report.differential_pressure_filtered_pa < 0.0f) { + report.differential_pressure_filtered_pa = _filter.reset(diff_press_pa); + } report.differential_pressure_raw_pa = diff_press_pa_raw; report.max_differential_pressure_pa = _max_differential_pressure_pa; diff --git a/src/modules/commander/airspeed_calibration.cpp b/src/modules/commander/airspeed_calibration.cpp index 339b11bbe..0e58c68b6 100644 --- a/src/modules/commander/airspeed_calibration.cpp +++ b/src/modules/commander/airspeed_calibration.cpp @@ -180,13 +180,11 @@ int do_airspeed_calibration(int mavlink_fd) return ERROR; } - mavlink_log_critical(mavlink_fd, "Offset of %d Pascal", (int)diff_pres_offset); + mavlink_log_critical(mavlink_fd, "Offset of %d Pa, create airflow now!", (int)diff_pres_offset); /* wait 500 ms to ensure parameter propagated through the system */ usleep(500 * 1000); - mavlink_log_critical(mavlink_fd, "Create airflow now"); - calibration_counter = 0; const unsigned maxcount = 3000; @@ -206,18 +204,18 @@ int do_airspeed_calibration(int mavlink_fd) calibration_counter++; if (fabsf(diff_pres.differential_pressure_raw_pa) < 50.0f) { - if (calibration_counter % 500 == 0) { - mavlink_log_info(mavlink_fd, "Create airflow! (%d, wanted: 50 Pa)", - (int)diff_pres.differential_pressure_raw_pa); + if (calibration_counter % 100 == 0) { + mavlink_log_critical(mavlink_fd, "Missing airflow! (%d, wanted: 50 Pa, #h101)", + (int)diff_pres.differential_pressure_raw_pa); } continue; } /* do not allow negative values */ if (diff_pres.differential_pressure_raw_pa < 0.0f) { - mavlink_log_critical(mavlink_fd, "Swap static and dynamic ports!"); - mavlink_log_info(mavlink_fd, "ERROR: Negative pressure difference detected! (%d Pa)", - (int)diff_pres.differential_pressure_raw_pa); + mavlink_log_info(mavlink_fd, "negative pressure: ERROR (%d Pa)", + (int)diff_pres.differential_pressure_raw_pa); + mavlink_log_critical(mavlink_fd, "%d Pa: swap static and dynamic ports!", (int)diff_pres.differential_pressure_raw_pa); close(diff_pres_sub); /* the user setup is wrong, wipe the calibration to force a proper re-calibration */ @@ -238,7 +236,7 @@ int do_airspeed_calibration(int mavlink_fd) mavlink_log_info(mavlink_fd, CAL_FAILED_MSG, sensor_name); return ERROR; } else { - mavlink_log_info(mavlink_fd, "Positive pressure: OK (%d Pa)", + mavlink_log_info(mavlink_fd, "positive pressure: OK (%d Pa)", (int)diff_pres.differential_pressure_raw_pa); break; } -- cgit v1.2.3