Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-10 09:58:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

AntennaTracker: support setting just accel trim with preflight-cal

Browse Source 
use param5==2
This commit is contained in:
Andrew Tridgell 2015-05-16 07:28:50 +10:00
parent fb435fc78e
commit 4a290cd2f1
1 changed files with 11 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

15
AntennaTracker/GCS_Mavlink.pde
View File

@ -601,17 +601,24 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
} }
if (is_equal(packet.param4,1.0f)) { if (is_equal(packet.param4,1.0f)) {
// Cant trim radio // Cant trim radio
} } else if (is_equal(packet.param5,1.0f)) {
#if !defined( __AVR_ATmega1280__ )
else if (is_equal(packet.param5,1.0f)) {
float trim_roll, trim_pitch; float trim_roll, trim_pitch;
AP_InertialSensor_UserInteract_MAVLink interact(this); AP_InertialSensor_UserInteract_MAVLink interact(this);
if(ins.calibrate_accel(&interact, trim_roll, trim_pitch)) { if(ins.calibrate_accel(&interact, trim_roll, trim_pitch)) {
// reset ahrs's trim to suggested values from calibration routine // reset ahrs's trim to suggested values from calibration routine
ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0)); ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
} }
} else if (is_equal(packet.param5,2.0f)) {
// accel trim
float trim_roll, trim_pitch;
if(ins.calibrate_trim(trim_roll, trim_pitch)) {
// reset ahrs's trim to suggested values from calibration routine
ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;
}
} }
#endif
result = MAV_RESULT_ACCEPTED; result = MAV_RESULT_ACCEPTED;
break; break;
} }