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AP_InertialSensor: show calibration offsets for success and failure

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Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
This commit is contained in:
Andrew Tridgell 2013-05-08 16:19:06 +10:00
parent f3f4b7205c
commit 2ddeaa7f4d
1 changed files with 9 additions and 5 deletions
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14
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -379,7 +379,14 @@ bool AP_InertialSensor::calibrate_accel(void (*flash_leds_cb)(bool on),
}
// run the calibration routine
if( _calibrate_accel(samples, new_offsets, new_scaling) ) {
bool success = _calibrate_accel(samples, new_offsets, new_scaling);
interact->printf_P(PSTR("Offsets: %.2f %.2f %.2f\n"),
new_offsets.x, new_offsets.y, new_offsets.z);
interact->printf_P(PSTR("Scaling: %.2f %.2f %.2f\n"),
new_scaling.x, new_scaling.y, new_scaling.z);
if (success) {
interact->printf_P(PSTR("Calibration successful\n"));
// set and save calibration
@ -393,10 +400,7 @@ bool AP_InertialSensor::calibrate_accel(void (*flash_leds_cb)(bool on),
return true;
}
interact->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);
interact->printf_P(PSTR("Calibration FAILED\n"));
// restore original scaling and offsets
_accel_offset.set(orig_offset);
_accel_scale.set(orig_scale);