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Copter: integrate automatic roll and pitch trims

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This commit is contained in:
Randy Mackay 2013-01-30 20:48:42 +09:00
parent ccdbfefb73
commit 5b50f31b8f
2 changed files with 9 additions and 2 deletions
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5
ArduCopter/GCS_Mavlink.pde
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@ -1096,8 +1096,11 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
trim_radio(); trim_radio();
} }
if (packet.param5 == 1) { if (packet.param5 == 1) {
float trim_roll, trim_pitch;
// this blocks // this blocks
ins.calibrate_accel(mavlink_delay, flash_leds, gcs_send_text_fmt, setup_wait_key); ins.calibrate_accel(mavlink_delay, flash_leds, gcs_send_text_fmt, setup_wait_key, 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; result = MAV_RESULT_ACCEPTED;
break; break;

6
ArduCopter/setup.pde
View File

@ -284,11 +284,15 @@ static void setup_wait_key(void)
static int8_t static int8_t
setup_accel_scale(uint8_t argc, const Menu::arg *argv) setup_accel_scale(uint8_t argc, const Menu::arg *argv)
{ {
float trim_roll, trim_pitch;
cliSerial->println_P(PSTR("Initialising gyros")); cliSerial->println_P(PSTR("Initialising gyros"));
ins.init(AP_InertialSensor::COLD_START, ins.init(AP_InertialSensor::COLD_START,
ins_sample_rate, ins_sample_rate,
delay, flash_leds, &timer_scheduler); delay, flash_leds, &timer_scheduler);
ins.calibrate_accel(delay, flash_leds, setup_printf_P, setup_wait_key); ins.calibrate_accel(delay, flash_leds, setup_printf_P, setup_wait_key, trim_roll, trim_pitch);
// reset ahrs's trim to suggested values from calibration routine
ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
report_ins(); report_ins();
return(0); return(0);
} }