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Tracker: move common calibration functions up

This commit is contained in:
Peter Barker 2018-03-17 22:56:14 +11:00 committed by Francisco Ferreira
parent b407a4eed8
commit 60aaabd93a
1 changed files with 0 additions and 39 deletions
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39
AntennaTracker/GCS_Mavlink.cpp
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@ -448,14 +448,6 @@ uint8_t GCS_MAVLINK_Tracker::sysid_my_gcs() const
MAV_RESULT GCS_MAVLINK_Tracker::_handle_command_preflight_calibration(const mavlink_command_long_t &packet) MAV_RESULT GCS_MAVLINK_Tracker::_handle_command_preflight_calibration(const mavlink_command_long_t &packet)
{ {
if (is_equal(packet.param1,1.0f)) {
tracker.ins.init_gyro();
if (!tracker.ins.gyro_calibrated_ok_all()) {
return MAV_RESULT_FAILED;
}
tracker.ahrs.reset_gyro_drift();
return MAV_RESULT_ACCEPTED;
}
if (is_equal(packet.param3,1.0f)) { if (is_equal(packet.param3,1.0f)) {
tracker.init_barometer(false); tracker.init_barometer(false);
@ -463,37 +455,6 @@ MAV_RESULT GCS_MAVLINK_Tracker::_handle_command_preflight_calibration(const mavl
tracker.nav_status.need_altitude_calibration = true; tracker.nav_status.need_altitude_calibration = true;
return MAV_RESULT_ACCEPTED; return MAV_RESULT_ACCEPTED;
} }
if (is_equal(packet.param4,1.0f)) {
// Can't trim radio
return MAV_RESULT_UNSUPPORTED;
}
if (is_equal(packet.param5,1.0f)) {
// start with gyro calibration
tracker.ins.init_gyro();
// reset ahrs gyro bias
if (!tracker.ins.gyro_calibrated_ok_all()) {
return MAV_RESULT_FAILED;
}
tracker.ahrs.reset_gyro_drift();
// start accel cal
tracker.ins.acal_init();
tracker.ins.get_acal()->start(this);
return MAV_RESULT_ACCEPTED;
}
if (is_equal(packet.param5,2.0f)) {
// start with gyro calibration
tracker.ins.init_gyro();
// accel trim
float trim_roll, trim_pitch;
if (!tracker.ins.calibrate_trim(trim_roll, trim_pitch)) {
return MAV_RESULT_FAILED;
}
// reset ahrs's trim to suggested values from calibration routine
tracker.ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
return MAV_RESULT_ACCEPTED;
}
return GCS_MAVLINK::_handle_command_preflight_calibration(packet); return GCS_MAVLINK::_handle_command_preflight_calibration(packet);
} }