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Tools: sitl_calibration: add sitl_autonomous_magcal command

This commit is contained in:
Gustavo Jose de Sousa 2016-09-28 16:40:44 -03:00 committed by Andrew Tridgell
parent 226290158b
commit 414977b6c5
1 changed files with 14 additions and 0 deletions
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14
Tools/mavproxy_modules/sitl_calibration.py
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@ -98,6 +98,9 @@ class CalController(object):
self.general_state = 'angvel'
def autonomous_magcal(self):
self.mpstate.functions.process_stdin('servo set 5 1250')
def handle_simstate(self, m):
if self.general_state == 'attitude':
q = quaternion.Quaternion((m.roll, m.pitch, m.yaw))
@ -362,6 +365,13 @@ class SitlCalibrationModule(mp_module.MPModule):
self.cmd_sitl_magcal,
'actuate on the simulator vehicle for magnetometer calibration',
)
self.add_command(
'sitl_autonomous_magcal',
self.cmd_sitl_autonomous_magcal,
'let the simulating program do the rotations for magnetometer ' +
'calibration - basically, continuous rotations over six ' +
'calibration poses',
)
self.add_command(
'sitl_stop',
self.cmd_sitl_stop,
@ -427,6 +437,10 @@ class SitlCalibrationModule(mp_module.MPModule):
def cmd_sitl_magcal(self, args):
self.set_controller('magcal_controller')
def cmd_sitl_autonomous_magcal(self, args):
self.set_controller('generic_controller')
self.current_controller.autonomous_magcal()
def mavlink_packet(self, m):
for c in self.controllers.values():
c.mavlink_packet(m)