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INS: make it possible to do accel cal on a different serial port

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This commit is contained in:
Andrew Tridgell 2012-11-21 16:18:21 +11:00
parent d44ceb3fa5
commit 11141d0af0
2 changed files with 12 additions and 30 deletions
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37
libraries/AP_InertialSensor/AP_InertialSensor.cpp
View File

@ -233,7 +233,9 @@ AP_InertialSensor::_init_accel(void (*delay_cb)(unsigned long t), void (*flash_l
#if !defined( __AVR_ATmega1280__ )
// perform accelerometer calibration including providing user instructions and feedback
bool AP_InertialSensor::calibrate_accel(void (*delay_cb)(unsigned long t), void (*flash_leds_cb)(bool on), void (*send_msg)(const prog_char_t *, ...))
bool AP_InertialSensor::calibrate_accel(void (*delay_cb)(unsigned long t), void (*flash_leds_cb)(bool on),
void (*send_msg)(const prog_char_t *, ...),
void (*wait_key)(void))
{
Vector3f samples[6];
Vector3f new_offsets;
@ -274,20 +276,9 @@ bool AP_InertialSensor::calibrate_accel(void (*delay_cb)(unsigned long t), void
msg = PSTR("on it's back");
break;
}
if (send_msg == NULL) {
Serial.printf_P(PSTR("USER: Place APM %S and press any key.\n"), msg);
}else{
send_msg(PSTR("USER: Place APM %S and press any key.\n"), msg);
}
send_msg(PSTR("USER: Place APM %S and press any key.\n"), msg);
// wait for user input
while( !Serial.available() ) {
delay_cb(20);
}
// clear unput buffer
while( Serial.available() ) {
Serial.read();
}
wait_key();
// clear out any existing samples from ins
update();
@ -306,11 +297,7 @@ bool AP_InertialSensor::calibrate_accel(void (*delay_cb)(unsigned long t), void
// run the calibration routine
if( _calibrate_accel(samples, new_offsets, new_scaling) ) {
if (send_msg == NULL) {
Serial.printf_P(PSTR("Calibration successful\n"));
}else{
send_msg(PSTR("Calibration successful\n"));
}
send_msg(PSTR("Calibration successful\n"));
// set and save calibration
_accel_offset.set(new_offsets);
@ -319,15 +306,9 @@ bool AP_InertialSensor::calibrate_accel(void (*delay_cb)(unsigned long t), void
return true;
}
if (send_msg == NULL) {
Serial.printf_P(PSTR("Calibration failed (%.1f %.1f %.1f %.1f %.1f %.1f)\n"),
new_offsets.x, new_offsets.y, new_offsets.z,
new_scaling.x, new_scaling.y, new_scaling.z);
} else {
send_msg(PSTR("Calibration failed (%.1f %.1f %.1f %.1f %.1f %.1f)\n"),
new_offsets.x, new_offsets.y, new_offsets.z,
new_scaling.x, new_scaling.y, new_scaling.z);
}
send_msg(PSTR("Calibration failed (%.1f %.1f %.1f %.1f %.1f %.1f)\n"),
new_offsets.x, new_offsets.y, new_offsets.z,
new_scaling.x, new_scaling.y, new_scaling.z);
// restore original scaling and offsets
_accel_offset.set(orig_offset);
_accel_scale.set(orig_scale);

5
libraries/AP_InertialSensor/AP_InertialSensor.h
View File

@ -52,8 +52,9 @@ public:
#if !defined( __AVR_ATmega1280__ )
// perform accelerometer calibration including providing user instructions and feedback
virtual bool calibrate_accel(void (*delay_cb)(unsigned long t),
void (*flash_leds_cb)(bool on) = NULL,
void (*send_msg)(const prog_char_t *, ...) = NULL);
void (*flash_leds_cb)(bool on),
void (*send_msg)(const prog_char_t *, ...),
void (*wait_key)(void));
#endif
/// Perform cold-start initialisation for just the gyros.