Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Replay: set INS_GYRO_CAL to never to avoid losing samples

This commit is contained in:
Peter Barker 2015-10-22 17:40:21 +11:00 committed by Andrew Tridgell
parent 79dee5aaa9
commit 5da7d6eac2
1 changed files with 15 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

15
Tools/Replay/Replay.cpp
View File

@ -280,6 +280,7 @@ private:
} user_parameters[100]; } user_parameters[100];
void set_ins_update_rate(uint16_t update_rate); void set_ins_update_rate(uint16_t update_rate);
void inhibit_gyro_cal();
void usage(void); void usage(void);
void set_user_parameters(void); void set_user_parameters(void);
@ -608,6 +609,7 @@ void Replay::setup()
_vehicle.setup(); _vehicle.setup();
inhibit_gyro_cal();
set_ins_update_rate(log_info.update_rate); set_ins_update_rate(log_info.update_rate);
feenableexcept(FE_INVALID | FE_OVERFLOW); feenableexcept(FE_INVALID | FE_OVERFLOW);
@ -648,6 +650,19 @@ void Replay::set_ins_update_rate(uint16_t _update_rate) {
} }
} }
void Replay::inhibit_gyro_cal() {
// swiped from LR_MsgHandler.cpp; until we see PARM messages, we
// don't have a PARM handler available to set parameters.
enum ap_var_type var_type;
AP_Param *vp = AP_Param::find("INS_GYR_CAL", &var_type);
if (vp == NULL) {
::fprintf(stderr, "No GYR_CAL parameter found\n");
abort();
}
((AP_Float *)vp)->set(AP_InertialSensor::GYRO_CAL_NEVER);
// logreader.set_parameter("GYR_CAL", AP_InertialSensor::GYRO_CAL_NEVER);
}
/* /*
setup user -p parameters setup user -p parameters