Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-21 23:33:57 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Barometer: tidy handling of barometer calibrations

Browse Source
This commit is contained in:
Peter Barker 2018-03-18 15:13:37 +11:00 committed by Francisco Ferreira
parent cca4d5136e
commit 1de68b78dc
1 changed files with 4 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AP_Baro/AP_Baro.cpp
View File

@ -21,6 +21,7 @@
#include <utility>
#include <GCS_MAVLink/GCS.h>
#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_Math/AP_Math.h>
@ -156,6 +157,8 @@ AP_Baro::AP_Baro()
// the altitude() or climb_rate() interfaces can be used
void AP_Baro::calibrate(bool save)
{
gcs().send_text(MAV_SEVERITY_INFO, "Calibrating barometer");
// reset the altitude offset when we calibrate. The altitude
// offset is supposed to be for within a flight
_alt_offset.set_and_save(0);
@ -222,6 +225,7 @@ void AP_Baro::calibrate(bool save)
// panic if all sensors are not calibrated
for (uint8_t i=0; i<_num_sensors; i++) {
if (sensors[i].calibrated) {
gcs().send_text(MAV_SEVERITY_INFO, "Barometer calibration complete");
return;
}
}